JP2009257802A - Data transmitter, data transmission method, data transmission program, positioning device, positioning method, and positioning program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent discontinuity between positioning results accompanying the switching of electronic reference points in cases where positioning is performed by using correction data generated from data acquired by the reference points from the satellites, and to reduce the data transmission amount of correction data used for positioning. <P>SOLUTION: This data transmitter 101 calculates reference-point specific errors showing error amounts specific to the respective electronic reference points based on the data acquired from the satellites by the reference points. This transmitter 101 transmits the calculated specific errors on the respective reference points as correction data to a positioning device 201 while the quasi-distance to one arbitrary electronic reference point and its carrier-wave phase are transmitted to the positioning device 201. The positioning device 201 performs positioning based on the received correction data, the quasi-distance, and the carrier-wave phase. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to a data transmission device, a data transmission method, and a positioning device that transmit correction data used for positioning, for example.

Conventionally, when correcting the positioning position when positioning the position, if the distance between the positioning position and the reference point increases, the correction becomes impossible and the position accuracy deteriorates, so it is necessary to switch to another reference point closer to the positioning position There is. Along with the switching of the reference point, the positioning process initialization process (determination of integer value bias) is performed. Therefore, a positioning solution cannot be obtained until the initialization process is completed. Therefore, the continuity of positioning results is impaired (Patent Document 1).
In addition, when the correction data is distributed over a wide area via a satellite, it is necessary to transmit observation data of a large number of reference points. Therefore, it is impossible to distribute correction data via a satellite with a limited data transmission amount.
JP 2005-189059 A

  An object of the present invention is, for example, to avoid discontinuity in positioning results associated with switching of reference points. Another object of the present invention is to reduce the data transmission amount of correction data used for positioning, for example.

The data transmission device according to the present invention collects, for example, electronic reference point information output from each electronic reference point of a plurality of electronic reference points based on signals received from each of a plurality of satellites and stores the information in a storage device And
A calculation unit that calculates a reference point inherent error indicating an amount of error inherent to each electronic reference point from the electronic reference point information acquired by the collection unit by the processing device for each electronic reference point;
And a data transmission unit that transmits the reference point intrinsic error calculated by the calculation unit from the communication device as correction information for correcting the position of the positioning device.

  The data transmitting apparatus according to the present invention transmits a specific error amount of each electronic reference point as correction data. As a result, the amount of correction data to be transmitted can be reduced as compared with the conventional method of transmitting an error amount between reference points, and it is used even when the distance between the positioning position and the reference point is increased. It is possible to perform highly accurate correction without switching the reference point.

Embodiment 1 FIG.
In this embodiment, a positioning correction data distribution system that distributes “correction data 3” used for positioning will be described. In particular, it is a positioning correction data distribution system that distributes correction data 3 that does not require switching of the reference point even when the distance between the positioning position and the reference point becomes large. A positioning correction data distribution system in which the data amount of data 3 is reduced will be described.
As will be described later, the “correction data 3” includes a satellite position error E of a GPS (Global Positioning System) satellite, an ionospheric delay amount I of positioning information 1 (L1 wave, L2 wave) transmitted by the GPS satellite, a reference This is data including a pseudorange and a carrier phase regarding each GPS satellite, which is an observation amount of a point.

FIG. 1 is a diagram showing a configuration of a positioning correction data distribution system 500 according to this embodiment.
Positioning correction data distribution system 500 includes GPS satellites 300a... 300n that transmit positioning information 1, and electronic reference points 10a... 10n that receive positioning information 1 and output electronic reference point information 2 (reference points). A center station 100 (data transmission apparatus 101) that collects and processes the electronic reference point information 2, a quasi-zenith satellite 400 that relays correction data 3 from the center station 100, and positioning information 1 such as a GPS satellite 300a A positioning device 201 for receiving the correction data 3 distributed by the quasi-zenith satellite 400 and positioning the position.

  The center station 100 includes a data transmission device 101 as shown in FIG. The processing in the center station 100 is executed by the data transmission device 101. In addition, only two GPS satellites, the GPS satellites 300a and 300n, are illustrated, but are not limited to two. Usually, 4 or more aircraft are assumed. In addition, although the electronic reference points are illustrated as two electronic reference points 10a and 10n, they are illustrative and are not limited to two points. For example, 1000 or more electronic reference points are installed in various parts of Japan.

Next, the transmission amount of the correction data 3 transmitted by the positioning correction data distribution system 500 according to this embodiment will be described.
FIG. 2 is a diagram showing the number of bits of each correction data 3 and the (optimized) update cycle.
FIG. 3 is a diagram illustrating an example of use reference points in Japan.
As described above, the reference points to be used are selected from among the electronic reference points that are set at 1000 points or more so that the distance between the reference points is about 70 km and is arranged in a substantially grid pattern. The satellite position error and ionospheric delay amount at the observation point are obtained by linearly interpolating each value at the reference point, as will be described later. Therefore, the interval between the reference points is set to about 70 km from the range where this linear interpolation is spatially established. Since the electronic reference point network in Japan is densely installed as described above, an appropriate electronic reference point exists in the vicinity of each lattice point. In FIG. 3, the use reference score is about 138 nationwide in Japan, but here the estimation is performed with 150 points. The number of observation satellites is 10 and the amount of data transmission is estimated.
Note that, among the correction data 3 shown in FIG. 2, only the data of one reference point is transmitted for the reference point pseudorange, the reference point pseudorange change rate, and the reference point carrier phase with a short update interval of 1 second. The satellite position error E and the ionospheric delay I, which have a long update interval of 30 seconds, are transmitted with the data of 138 points (150 points in the estimation).

FIG. 4 is a diagram showing the transmission amount of each correction data 3.
In the conventional method, a data communication capacity of 1 Mbps or more was required to distribute data all over Japan. However, as shown in FIG. 4, there is only one observation data with a short update interval and a large data capacity. By transmitting only the reference point observation data, the data amount can be reduced to 2.02 Kbps.

In other words, one feature of the correction data distribution system 500 for positioning is that the transmission amount of the correction data 3 transmitted from the data transmission apparatus 101 is about 2 kbps compared to the conventional amount of 1 Mbps or more. is there.
This is because, as described above, the data transmission device 101 transmits only observation data at one reference point for observation data with a short update interval and a large data capacity, and optimizes the error factor for each dynamic range. This is because the transmission amount of the correction data 3 to be transmitted can be greatly reduced by optimizing the update cycle by considering the dynamics for each error factor.
Another feature of the positioning correction data distribution system 500 is that it is not necessary to switch the reference point even when the distance between the positioning position and the reference point becomes large.
This is because the data transmitting apparatus 101 does not transmit the error amount between the reference points as the correction data 3, but as described above, the reference point inherent error (satellite position error E, ionosphere) which is an error amount inherent to the reference point. By transmitting the delay amount I) as the correction data 3, the positioning device 201 can calculate the error data between the reference points for the reference points located far away with high accuracy.

Next, even if the distance between the positioning position and the reference point is increased by the positioning device 201 positioning using the correction data 3 described based on FIGS. 2 to 4, the reference point is switched. The reason why the positioning can be performed with high accuracy without performing the method and the method will be described.
First, the outline of the positioning correction data distribution system 500 will be described with reference to FIG.
(1) The GPS satellites 300a... 300n transmit positioning information 1 (signal).
(2) The electronic reference points 10a... 10n etc. receive the positioning information 1 transmitted by each GPS satellite in (1) and output predetermined information as the electronic reference point information 2. The predetermined information includes a pseudo distance between the electronic reference point and the GPS satellite, a carrier wave phase, and the like.
(3) The data transmission device 101 included in the center station 100 collects the electronic reference point information 2 output by each electronic reference point such as the electronic reference point 10a and the correction data 3 based on the collected electronic reference point information 2 Create Then, the created correction data 3 is distributed via, for example, the quasi-zenith satellite 400. The distribution of the correction data 3 via the quasi-zenith satellite 400 is an example. It may be distributed via other satellites. Further, it may be distributed by terrestrial waves regardless of the satellite. Further, it may be distributed via a network such as the Internet.

  FIG. 5 is a functional block diagram illustrating functions of the data transmission device 101 included in the center station 100. As shown in FIG. 5, the data transmission apparatus 101 includes a source data collection processing unit 102 (collection unit), a correction data calculation unit 103 (calculation unit), a data transmission unit 104, and an electronic reference point data storage unit 105. Further, the correction data calculation unit 103 includes an inherent error data generation unit 1031 and an observation data generation unit 1032.

(1) The source data collection processing unit 102 collects and processes the electronic reference point information 2 via the communication device.
(2) The inherent error data generation unit 1031 uses the electronic reference point information 2 and data representing the coordinates of the electronic reference point stored in the storage device by the electronic reference point data storage unit 105, and the satellite position error described later. Inherent error data (reference point inherent error) such as ionospheric delay is calculated by the processing device.
(3) The observation data generation unit 1032 uses a processing device to calculate observation data such as a pseudorange and a carrier wave phase for each GPS satellite, which is an observation amount of the electronic reference point.
(4) The data transmission unit 104 receives the observation data such as the pseudorange and the carrier phase generated by the observation data generation unit 1032 together with the specific error data such as the satellite position error and ionospheric delay generated by the specific error data generation unit 1031. The correction data 3 used for positioning is distributed (transmitted) via the communication device.
(5) The electronic reference point data storage unit 105 stores data representing the coordinates of the electronic reference point in the storage device.

  FIG. 6 is a flowchart showing the operation of the data transmission apparatus 101. The outline of the operation of the data transmission apparatus 101 will be described with reference to FIG.

<S11: Source data collection step (collection step)>
The source data collection processing unit 102 collects electronic reference point information 2 from each electronic reference point of the plurality of electronic reference points and stores it in the storage device.

<S12: Inherent Error Data Generation Step (Inherent Error Data Calculation Step)>
The inherent error data generation unit 1031 uses the electronic reference point information 2 collected by the source data collection processing unit 102 to calculate a reference point inherent error by the processing device. Specifically, the inherent error data generation unit 1031 has a reference point inherent error as
(1) GPS satellite position error E
(2) Ionospheric delay amount I due to ionospheric delay of positioning information 1 transmitted by a GPS satellite
Calculate
Here, (1) satellite position error E and (2) ionospheric delay amount I are errors inherent in the GPS satellites and the electronic reference points depending on the positions of the individual GPS satellites and the respective electronic reference points. If each electronic reference point is expressed by “subscript i”, the satellite position error E and the ionospheric delay amount I at each electronic reference point can be expressed as “satellite position error Ei” and “ionospheric delay amount Ii”. it can. The inherent error data generation unit 1031 calculates “satellite position error Ei” and “ionosphere delay amount Ii” for each electronic reference point i. The “satellite position error Ei” is an error amount affecting the positioning accuracy when the position of the electronic reference point i is measured. Similarly, the “ionosphere delay amount Ii” is an error amount that affects the positioning accuracy when the position of the electronic reference point i is measured. Details of the process of the inherent error data generation unit 1031 will be described later.

<S13: Observation data generation step (observation data calculation step)>
The observation data generation unit 1032 uses the electronic reference point information 2 collected by the source data collection processing unit 102 to calculate observation data regarding each GPS satellite by the processing device. Specifically, the observation data generation unit 1032 has, as observation data,
(1) Generate a pseudorange and a carrier wave phase for each GPS satellite that is an observation amount of a reference point.
Here, (1) the pseudorange and the carrier wave phase for each GPS satellite, which is the amount of observation at the reference point, is observation data of individual GPS satellites at one electronic reference point. This “observation data of the reference point (pseudorange and carrier phase)” is necessary for obtaining a difference from the observation data (pseudorange and carrier phase) of the observation point when positioning the position of the observation point. It should be noted that “reference point observation data (pseudorange and carrier phase)” may be subjected to data compression.

<S14: Data transmission step>
The data transmission unit 104 includes transmission target data including the “satellite position error Ei” and the “ionosphere delay amount Ii” generated by the inherent error data generation unit 1031, and the “reference point” generated by the observation data generation unit 1032. The transmission target data including “observation data” is transmitted as “correction data 3”.

Next, (1) satellite position error E and (2) ionospheric delay amount I described in the description of S12 in FIG. 6 will be described in order.
First, how to obtain the “satellite position error Ei” will be described with reference to FIG.
FIG. 7 is a flowchart showing a process of calculating the satellite position error at each reference point. Here, description will be made assuming that X satellites and Y reference points are used.

<S21: First Reference Point Specific Error (Satellite Position Error) Calculation Step>
The satellite position error between the satellite m and the reference point 1 is the following using the pseudo distance (L1 wave, L2 wave), geometric distance, reference point clock error, and satellite clock error of the electronic reference point information 2. Calculate as follows:

  The satellite position error between the satellite m and the reference point p (≧ 2) is obtained by sequentially processing this calculation process for the satellite m and the reference point p.

<S22: Second Reference Point Specific Error (Satellite Position Error) Calculation Step>
The satellite position error between the satellite n and the reference point 1 is calculated by using the pseudo distance (L1 wave, L2 wave), the geometric distance, the reference point clock error, and the satellite clock error of the electronic reference point information 2. Calculate as follows:

  The satellite position error between the satellite n and the reference point p (≧ 2) is obtained by sequentially processing this calculation process for the satellite m and the reference point p.

<S23: Single difference calculation step>
The single difference in satellite position error between the satellite m, the reference point p and the reference point q (= p + 1) is the pseudo distance (L1 wave, L2 wave) of the electronic reference point information 2, the geometric distance and the reference point clock. Use the error to calculate:

<S24: Double difference calculation step>
The double difference in satellite position error between satellite m, satellite n, reference point p and reference point q (= p + 1) is the carrier phase (L1 wave, L2 wave) of electronic reference point information 2 and geometric distance. And integer bias (L1 wave, L2 wave) is used to calculate as follows. This value is a precise value because it is obtained using the carrier phase and the integer value bias.

<S25: Third Reference Point Specific Error (Satellite Position Error) Calculation Step>
The satellite position error between the satellite m and the reference point q (= p + 1) is the satellite position error between the satellite m and the reference point p obtained in <S21>, the satellite m obtained in <S23>, and the reference Using the single difference of the satellite position error between the point p and the reference point q (= p + 1), calculation is performed as follows.

<S26: Fourth Reference Point Specific Error (Satellite Position Error) Calculation Step>
The satellite position error between the satellite n and the reference point q (= p + 1) is the satellite position error between the satellite n and the reference point p obtained in <S22>, the satellite m and the reference point obtained in <S23>. Single difference of satellite position error between p and reference point q (= p + 1), and satellite position between satellite m, satellite n, reference point p and reference point q (= p + 1) obtained in <S24> Using the double difference in error, the following equation is calculated.

  At this time, the double difference of the satellite position error between the satellite m, the satellite n, the reference point p, and the reference point q (= p + 1) can be obtained as follows using Equation 5 and Equation 6. , <S24> is found to be a precise value consistent with the value obtained.

  That is, the first reference point inherent error and the second reference point inherent error calculated in <S21> and <S22>, the third reference point inherent error calculated in <S25> and <S26>, and the It can be seen that the double difference calculated from the reference point inherent error of 4 is a precise value. That is, the first reference point inherent error and the second reference point inherent error calculated in <S21> and <S22>, the third reference point inherent error calculated in <S25> and <S26>, and the 4 is transmitted as the correction data 3, the positioning device 201 calculates the precise double difference value of the satellite position error between the reference point p and the reference point q (= p + 1). Can do.

Then, by repeating the processing from <S21> to <S26> through a loop of <S27> and <S28> described below, the “satellite position error Ei” at each reference point for each satellite is set.
<S27: Satellite selection step>
The inherent error data generation unit 1031 determines whether m = X by the processing device. That is, the inherent error data generation unit 1031 determines whether or not all the satellites have been selected as the satellite m by the processing device. If m = X (all satellites are selected as satellite m) (YES in S27), the process proceeds to <S28>. On the other hand, if m ≠ X (all satellites are not selected as satellite m) (NO in S27), the next satellite is selected as satellite m (m = m + 1), and the process returns to <S21> and again. Process.
<S28: Reference point selection step>
The inherent error data generation unit 1031 determines whether q (= p + 1) = Y by the processing device. That is, the inherent error data generation unit 1031 determines whether or not the satellite position error has been calculated for all reference points by the processing device. If q = Y (satellite position error has been calculated for all reference points) (YES in S28), the process ends. On the other hand, if q ≠ Y (satellite position error is not calculated for all reference points) (NO in S28), the next reference point is selected as the reference point p with m = 1 (m initialization). (P = p + 1), the process returns to <S21> to perform the process again.

  When the above processing is performed, for each reference point, for each reference point, the first reference point inherent error and the second reference point inherent error calculated in <S21> and <S22>, <S25>, and <S26. The third reference point inherent error and the fourth reference point inherent error calculated in the above are set as reference point errors.

  Here, the double difference in the satellite position error between the satellite m, the satellite n, the reference point p, and the reference point q (> p) is a sum of precise values as in the following equation. Therefore, it can be seen that the double difference in the satellite position error between any reference points can be obtained with a precise value using the “satellite position error Ei”.

  That is, for each reference point, for each reference point, the first reference point inherent error and the second reference point inherent error calculated in <S21> and <S22>, and <S25> and <S26> are calculated. By transmitting the third reference point inherent error and the fourth reference point inherent error as the correction data 3, it is possible to determine the precise double difference value of the satellite position error between any two reference points. The device 201 can calculate.

Next, how to obtain the “ionospheric delay amount Ii” will be described with reference to FIG.
FIG. 8 is a flowchart showing the calculation process of the ionospheric delay amount at each reference point. Here, description will be made assuming that X satellites and Y reference points are used.

<S31: First Reference Point Specific Error (Ionospheric Delay Amount) Calculation Step>
The ionospheric delay amount between the satellite m and the reference point 1 is calculated using the pseudorange (L1 wave, L2 wave), the geometric distance, the reference point clock error, and the satellite clock error of the electronic reference point information 2. Calculate as follows:

  The ionospheric delay amount between the satellite m and the reference point p (≧ 2) is obtained by sequentially processing this calculation process for the satellite m and the reference point p.

<S32: Second Reference Point Specific Error (Ionospheric Delay Amount) Calculation Step>
The ionospheric delay amount between the satellite n and the reference point 1 is calculated by using the pseudo distance (L1 wave, L2 wave), the geometric distance, the reference point clock error, and the satellite clock error of the electronic reference point information 2. Calculate as follows:

  The ionospheric delay amount between the satellite n and the reference point p (≧ 2) can be obtained by sequentially processing this calculation process for the satellite m and the reference point p.

<S33: Single difference calculation step>
The single difference of the ionospheric delay amount between the satellite m, the reference point p, and the reference point q (= p + 1) is the pseudorange (L1 wave, L2 wave) of the electronic reference point information 2, the geometric distance, and the reference point clock. Use the error to calculate:

<S34: Double difference calculation step>
The double difference in ionospheric delay between satellite m, satellite n, reference point p and reference point q (= p + 1) is the carrier phase (L1 wave, L2 wave) of electronic reference point information 2 and geometric distance. And integer bias (L1 wave, L2 wave) is used to calculate as follows. This value is a precise value because it is obtained using the carrier phase and the integer value bias.

<S35: Third Reference Point Specific Error (Satellite Position Error) Calculation Step>
The ionospheric delay amount between the satellite m and the reference point q (= p + 1) is the ionospheric delay amount between the satellite m and the reference point p obtained in <S31>, the satellite m obtained in <S33>, and the reference Using the single difference of the ionospheric delay amount between the point j and the reference point q (= p + 1), calculation is performed as follows.

<S36: Fourth Reference Point Specific Error (Satellite Position Error) Calculation Step>
The ionospheric delay amount between satellite n and reference point q (= p + 1) is the ionospheric delay amount between satellite n and reference point p obtained in <S32>, satellite m and reference point obtained in <S33>. Single difference of ionospheric delay amount between p and reference point q (= p + 1), and ionospheric delay between satellite m, satellite n, reference point p and reference point q (= p + 1) obtained in <S34> Use the double difference in quantity to calculate as follows:

  At this time, the double difference of the ionospheric delay amount between the satellite m, the satellite n, the reference point p, and the reference point q (= p + 1) can be obtained as follows using the equations 13 and 14. , <S34> is found to be a precise value consistent with the value obtained.

  That is, the first reference point inherent error and the second reference point inherent error calculated in <S31> and <S32>, the third reference point inherent error calculated in <S35> and <S36>, and the It can be seen that the double difference calculated from the reference point inherent error of 4 is a precise value. That is, the first reference point inherent error and the second reference point inherent error calculated in <S21> and <S22>, the third reference point inherent error calculated in <S25> and <S26>, and the If the reference point inherent error of 4 is transmitted as the correction data 3, the positioning device 201 calculates the precise double difference value of the ionospheric delay amount between the reference point p and the reference point q (= p + 1). Can do.

Then, the “ionospheric delay amount Ei” at each reference point for each satellite is set by a loop of <S37> and <S38> described below.
<S37: Satellite selection step>
The inherent error data generation unit 1031 determines whether m = X by the processing device. That is, the inherent error data generation unit 1031 determines whether or not all the satellites have been selected as the satellite m by the processing device. If m = X (all satellites are selected as satellite m) (YES in S37), the process proceeds to <S38>. On the other hand, if m ≠ X (all satellites are not selected as satellite m) (NO in S37), the next satellite is selected as satellite m (m = m + 1), and the process returns to <S31>. Process.
<S38: Reference point selection step>
The inherent error data generation unit 1031 determines whether q (= p + 1) = Y by the processing device. That is, the inherent error data generation unit 1031 determines whether or not the ionospheric delay amount has been calculated for all reference points by the processing device. If q = Y (the ionospheric delay amount has been calculated for all reference points) (YES in S38), the process ends. On the other hand, if q ≠ Y (the ionospheric delay amount is not calculated for all reference points) (NO in S38), the next reference point is selected as the reference point p with m = 1 (m initialization). (P = p + 1), the process returns to <S31> to perform the process again.

  When the above processing is performed, for each reference point, for each reference point, the first reference point inherent error and the second reference point inherent error calculated in <S31> and <S32>, <S35>, and <S36. The third reference point inherent error and the fourth reference point inherent error calculated in the above are set as reference point errors.

  Here, the double difference of the ionospheric delay amount among the satellite m, the satellite n, the reference point p, and the reference point q (> p) is a sum of precise values as in the following equation. Therefore, it can be seen that a precise value can be obtained for the double difference in ionospheric delay amount between arbitrary reference points by using “ionospheric delay amount Ii”.

  That is, for each reference point, for each reference point, the first reference point inherent error and the second reference point inherent error calculated in <S31> and <S32>, and <S35> and <S36> are calculated. By transmitting the 3rd reference point inherent error and the 4th reference point inherent error as correction data 3, a precise double difference value of ionospheric delay can be measured between any two reference points. The device 201 can calculate.

  FIG. 9 is a diagram illustrating a distribution format of data of the reference point inherent error. The data transmission apparatus 101 distributes the satellite position error Ei of each reference point and the ionospheric delay amount Ii for each satellite. That is, the first reference point inherent error, the second reference point inherent error, the third reference point inherent error, and the fourth reference point for each reference point for each satellite calculated by the processing described with reference to FIGS. The reference point inherent error is distributed.

Next, the positioning device 201 that measures its own position using the correction data 3 transmitted by the data transmission device 101 of the center station 100 will be described.
FIG. 10 is a functional block diagram illustrating functions of the positioning device 201. As illustrated in FIG. 10, the positioning device 201 includes a correction data receiving unit 202 (receiving unit), an inherent error calculating unit 203, and a positioning unit 204.

(1) The correction data receiving unit 202 communicates from the data transmission apparatus 101 using the reference point inherent error of each electronic reference point calculated by the data transmission apparatus 101, the pseudorange of a predetermined reference point, and the carrier phase as correction data 3. Receive via the device.
(2) The inherent error calculation unit 203 linearly interpolates the correction data 3 received by the correction data receiving unit 202 and calculates the inherent error at the current approximate position by the processing device. The inherent error calculation unit 203 corrects the observation data at the current position based on the generated inherent error at the current approximate position. In addition, the inherent error calculation unit 203, when the reference point inherent error of the predetermined reference point used for the difference in positioning is not included in the correction data 3 received by the receiving unit, the correction received by the receiving unit The reference point inherent error included in the data 3 is linearly interpolated to calculate the reference point inherent error of the predetermined reference point. The inherent error calculation unit 203 corrects the observation data (pseudorange and carrier phase) received by the correction data receiving unit 202 based on the calculated reference point inherent error.
(3) The positioning unit 204 uses the processing device to perform positioning using the corrected observation data at the current position and the corrected observation data of the reference point.

That is, as shown in FIG. 1, the positioning device 201 sends correction data 3 (inherent error data (satellite position error Ei and ionospheric delay amount Ii), observation data (pseudorange and carrier phase), etc., via the quasi-zenith satellite 400. ). The positioning device 201 measures the position based on the correction data 3 and the positioning information 1 from the GPS satellites 300a to 300n. Among the correction data 3, for the satellite position error Ei and the ionosphere delay amount Ii, the “satellite position error Ei” and “ionosphere delay amount Ei” at each reference point for each satellite are received. As for the pseudorange and carrier phase of the electronic reference point, only the pseudorange and carrier phase of each satellite for a certain electronic reference point are received.
The positioning device 201 obtains a single positioning position by single positioning. Then, the positioning device 201, based on the single positioning position, among the received reference points, for example, the three reference points 1, the reference point 2, and the reference point 3 in the vicinity, the satellite position error Ei, and the ionospheric delay. The quantity Ii is selected (i = 1, 2, 3). FIG. 11 shows the positional relationship between the electronic reference point (reference point) and the observation point (positioning device 201). Then, from the selected satellite position error Ei and ionosphere delay amount Ii (i = 1, 2, 3), the satellite position error Ep and ionosphere delay amount Ip to be used for positioning calculation are calculated as follows.

  The positioning device 201 corrects the observation data at the observation point using the converted satellite position error Ep and ionospheric delay amount Ip.

  In addition, the positioning device 201 uses the reference point 0, the reference point 2, and the reference point 3 in the vicinity of the received reference points based on the position of an arbitrary reference point 0 used for the difference in positioning. Satellite position error Ej and ionospheric delay amount Ij are selected (j = 1, 2, 3), and positioning is determined from the selected satellite position error Ej and ionospheric delay amount Ij (j = 1, 2, 3). The satellite position error Er and the ionospheric delay amount Ir to be used for the calculation are calculated as follows.

  The positioning device 201 corrects the observation data of the reference point 0 using the converted satellite position error Er and ionospheric delay amount Ir.

Among the correction data 3 transmitted by the data transmitting apparatus 101, the satellite position error Ei and the ionospheric delay amount Ii are between the next reference point (reference point q) at each reference point (reference point p) as described above. The satellite position error and ionospheric delay double difference are set to precise values. Therefore, as shown in FIG. 12, since the double difference between a certain reference point and the next reference point becomes a precise value, the double difference between any two reference points is also precise.
Further, the satellite position error Ep and ionosphere delay amount Ip at the observation point between the reference points, and the satellite position error Er and ionosphere delay amount Ir at the reference point 0 used for the difference in positioning are as described above. The satellite position error Ei and the ionospheric delay amount Ii can be obtained by linear interpolation.
Therefore, the satellite position error and the ionospheric delay amount double difference between the observation point and the arbitrary reference point 0 can be obtained with high accuracy.
The positioning device 201 performs positioning using the observation data of the corrected observation point and reference point 0.

Next, experimental results will be described.
FIG. 13 shows a result (positioning of bias error and random error (bias error and random error)) using the satellite position error and the ionospheric delay amount individually in the correction data 3 by the data transmitting apparatus 101 according to the present embodiment. σ value)).
FIG. 14 shows the result of positioning using the positioning device 201 (bias error and random error) using a composite value of the satellite position error and the ionospheric delay amount in the correction data 3 by the data transmission device 101 according to the present embodiment. (Σ value)).
FIG. 15 shows the result of positioning by the positioning device 201 when the correction data 3 is not used.
FIG. 16 is a diagram summarizing the positioning results shown in FIGS. The positioning results shown in FIGS. 13 to 15 are obtained by plotting the positioning results of 80 times.
When positioning is performed without using the correction data 3, the base line length becomes long, so that positioning results (bias error and random error) deteriorate. However, as shown in FIGS. 13 to 16, as a result of positioning using the correction data 3 according to the present embodiment, the positioning result does not deteriorate even if the base line length becomes long, and high-precision positioning is realized. You can see that
As the observation data, the electronic reference point data of the Geographical Survey Institute (40 minutes from 00: 00: 00: 00 on November 3, 2007) was used.

  As described above, the data transmission apparatus 101 according to this embodiment does not need to switch the observation data of the reference point used for the difference at the time of positioning. Therefore, the discontinuity of the positioning result accompanying the switching of the reference point is eliminated. It can be avoided.

  In addition, the data transmission apparatus 101 according to this embodiment can significantly reduce the amount of correction data 3 used for positioning and reduce the data transmission amount, so that satellite distribution of the correction data 3 can be realized. .

  The data transmitting apparatus 101 includes a data format changing unit that performs data compression to change the data format with respect to each of the pseudorange related to each artificial satellite, which is the observation amount of the reference point, and the carrier wave phase. The transmission unit 104 may transmit the transmission target data including a pseudorange related to each artificial satellite, which is an observation amount whose data format has been changed by the data format change unit, and a carrier wave phase.

  Further, the data transmitting apparatus 101 calculates and calculates the inherent error data at the reference point used for the difference in positioning by interpolating the reference point inherent error data calculated for each of the reference points. A data correction unit that corrects each of the artificial distance, which is the amount of observation of the reference point, and the carrier phase using the inherent error data, and the data transmission unit 104 corrects the data by the data correction unit. It is also possible to transmit the transmission target data including the pseudorange relating to each artificial satellite, which is the observed amount, and the carrier wave phase.

Further, the correction data calculation unit 103 inputs the observation amount (pseudorange and carrier phase) relating to each satellite as the electronic reference point information 2 at one or more electronic reference points, and the position of the reference point measured in advance. To get.
Then, the correction data calculation unit 103 sets the error used for positioning for the input observation amount input and the acquired position of the reference point, the satellite position error and the ionosphere as the reference point inherent error at the reference point. The data transmission unit 104 divides and calculates the delay amount and the satellite position error and ionosphere delay amount for each satellite at the reference point calculated by the correction data calculation unit 103 as the reference point specific error data. It may be delivered.
Further, the correction data calculation unit 103 uses the input position observation amount and the acquired position of the reference point as errors to be used for positioning, the satellite position error and the ionosphere as the reference point inherent error at the reference point. The data transmitter 104 synthesizes the delay amount and calculates the combined value of the satellite position error and the ionosphere delay amount for each artificial satellite at the reference point calculated by the correction data calculator 103. It may be distributed as point-specific error data.

The characteristics of the data transmitting apparatus 101 according to this embodiment are as follows.
Source data collection processing unit that collects the predetermined information as electronic reference point information 2 from each of a plurality of electronic reference points that receive the positioning information 1 from an artificial satellite that transmits the positioning information 1 and output the predetermined information 102,
By using the electronic reference point information 2 collected by the collection unit, a reference point inherent error indicating an error amount specific to each of the reference points is calculated for each of the plurality of electronic reference points, and the reference point Correction data for outputting the reference point specific error data calculated with respect to each of the satellites as transmission target data, and outputting the pseudo-range and the carrier wave phase for each artificial satellite, which is the observation amount of the reference point, as transmission target data A calculation unit 103;
And a data transmission unit 104 that transmits the transmission target data output from the calculation unit.

The characteristics of the data transmission method performed by the data transmission apparatus 101 including the source data collection processing unit 102, the correction data calculation unit 103, and the data transmission unit 104 are as follows.
The source data collection processing unit 102 receives the positioning information 1 from an artificial satellite that transmits the positioning information 1 and outputs the predetermined information from each of the plurality of electronic reference points that output the predetermined information. And the process of collecting as
The correction data calculation unit 103 uses the collected electronic reference point information 2 to influence the positioning accuracy when positioning the position of the reference point, and to indicate an error amount specific to each of the reference points A point specific error is calculated for each of the plurality of electronic reference points, the reference point specific error data calculated for each of the reference points is output as transmission target data, and each of the reference point observation amounts is A step of outputting the pseudorange related to the artificial satellite and the carrier wave phase as transmission target data;
The data transmission unit 104 includes a step of transmitting the transmission target data output from the calculation unit.

The features of the positioning device 201 according to this embodiment are as follows.
A correction data receiving unit 202 that receives the reference point inherent error data transmitted by the data transmission device 101, a pseudorange related to each artificial satellite that is an observation amount of the reference point, and a carrier phase;
The received reference point specific error data is converted into error data at the current approximate position, and the observation data at the current position is corrected using the converted error data, and each received amount of the reference point is received. An intrinsic error calculation unit 203 that converts the pseudorange related to the artificial satellite and the carrier wave phase into error data at the position of the reference point, and corrects the observation data of the reference point using the converted error data;
And a positioning unit 204 for positioning using the corrected data.

In addition, the correction data receiving unit 202 receives the reference point inherent error data transmitted from the data transmitting apparatus 101, the pseudo distance related to each artificial satellite, which is the observation amount of the reference point, and the carrier phase.
The inherent error calculation unit 203 converts the received reference point inherent error data into error data at the current approximate position, and corrects observation data at the current position using the converted error data.
The positioning unit 204 performs positioning using the corrected data.

Further, the correction data receiving unit 202 is the observation amount of the reference point together with the reference point specific error data which is the satellite position error and the ionospheric delay amount for each artificial satellite at the reference point transmitted by the data transmitting apparatus 101. The pseudorange for each satellite and the carrier phase are received.
The inherent error calculation unit 203 converts the received reference point inherent error data into error data at the current approximate position, and corrects observation data at the current position using the converted error data. In addition, the inherent error calculation unit 203 converts the pseudorange and the carrier wave phase relating to each artificial satellite, which is the received observation amount of the reference point, into error data at the position of the reference point, and uses the converted error data. Correct the observation data at the reference point.
The positioning unit 204 performs positioning using the corrected data.

In addition, the correction data receiving unit 202 includes the reference point inherent error data which is a composite value of the satellite position error and the ionospheric delay amount for each artificial satellite at the reference point transmitted by the data transmitting apparatus 101, and the reference point inherent error data. The pseudorange and the carrier wave phase relating to each artificial satellite as the observation amount are received.
The inherent error calculation unit 203 converts the received reference point inherent error data into error data at the current approximate position, and corrects observation data at the current position using the converted error data. In addition, the inherent error calculation unit 203 converts the pseudorange and the carrier wave phase relating to each artificial satellite, which is the received amount of the reference point, into error data at the position of the reference point, and uses the converted error data. Correct the observation data at the reference point.
The positioning unit 204 performs positioning using the corrected data.

Next, the hardware configuration of the data transmission device 101 and the positioning device 201 in the above embodiment will be described.
FIG. 17 is a diagram illustrating an example of a hardware configuration of the data transmission device 101 and the positioning device 201.
As shown in FIG. 17, the data transmission device 101 and the positioning device 201 include a CPU 911 (also referred to as a central processing unit, a central processing unit, a processing unit, a processing unit, a microprocessor, a microcomputer, and a processor) that executes a program. I have. The CPU 911 is connected to the ROM 913, the RAM 914, the LCD 901 (Liquid Crystal Display), the keyboard 902, the communication board 915, and the magnetic disk device 920 via the bus 912, and controls these hardware devices. Instead of the magnetic disk device 920, a storage device such as an optical disk device or a memory card read / write device may be used.

  The ROM 913 and the magnetic disk device 920 are examples of a nonvolatile memory. The RAM 914 is an example of a volatile memory. The ROM 913, the RAM 914, and the magnetic disk device 920 are examples of storage devices. The communication board 915 and the keyboard 902 are examples of input devices. The communication board 915 is an example of an output device. Furthermore, the communication board 915 is an example of a communication device. Furthermore, the LCD 901 is an example of a display device.

  An operating system 921 (OS), a window system 922, a program group 923, and a file group 924 are stored in the magnetic disk device 920 or the ROM 913. The programs in the program group 923 are executed by the CPU 911, the operating system 921, and the window system 922.

The program group 923 executes the functions described as “source data collection processing unit 102”, “correction data calculation unit 103”, “data transmission unit 104”, “electronic reference point data storage unit 105”, etc. in the above description. Programs to be executed and other programs are stored. The program is read and executed by the CPU 911.
In the file group 924, the data stored in the electronic reference point data storage unit 105 in the above description, information, data, signal values, variable values, and parameters described as “correction data 3” are stored in “file”, “ It is stored as each item of “database”. The “file” and “database” are stored in a recording medium such as a disk or a memory. Information, data, signal values, variable values, and parameters stored in a storage medium such as a disk or memory are read out to the main memory or cache memory by the CPU 911 via a read / write circuit, and extracted, searched, referenced, compared, and calculated. Used for the operation of the CPU 911 such as calculation / processing / output / printing / display. Information, data, signal values, variable values, and parameters are temporarily stored in the main memory, cache memory, and buffer memory during the operation of the CPU 911 for extraction, search, reference, comparison, calculation, calculation, processing, output, printing, and display. Is remembered.
In addition, the arrows in the flowcharts in the above description mainly indicate input / output of data and signals, and the data and signal values are recorded in a memory of the RAM 914 and other recording media such as an optical disk. Data and signals are transmitted online via a bus 912, signal lines, cables, or other transmission media.

  In addition, what is described as “to part” in the above description may be “to circuit”, “to device”, “to device”, “to means”, and “to function”. It may be “step”, “˜procedure”, “˜processing”. Further, what is described as “˜device” may be “˜circuit”, “˜device”, “˜means”, “˜function”, and “˜step”, “˜procedure”, “ ~ Process ". Furthermore, what is described as “to process” may be “to step”. That is, what is described as “˜unit” may be realized by firmware stored in the ROM 913. Alternatively, it may be implemented only by software, only hardware such as elements, devices, substrates, wirings, etc., or a combination of software and hardware, and further a combination of firmware. Firmware and software are stored in a recording medium such as ROM 913 as a program. The program is read by the CPU 911 and executed by the CPU 911. That is, the program causes a computer or the like to function as the “˜unit” described above. Alternatively, the computer or the like is caused to execute the procedures and methods of “to part” described above.

That is, the operations performed by each unit such as the source data collection processing unit 102, the inherent error data generation unit 1031, the observation data generation unit 1032, the data transmission unit 104, and the electronic reference point data storage unit 105 of the data transmission apparatus 101 are only hardware. However, it can also be implemented with software alone (in cooperation with hardware), or with a combination of hardware and software. Further, the electronic reference point data storage unit 105 may be considered as a magnetic storage device.
That is, in the above embodiment, the data transmission apparatus 101 has been described, but it may be considered as a data transmission method and a data transmission program.

The figure which shows the structure of the correction | amendment data delivery system. The figure which shows the bit number of each correction data 3, and the update period (optimized). The figure which shows the example of the use reference point in Japan. The figure which shows the transmission amount of each correction data 3. FIG. FIG. 3 is a functional block diagram showing functions of the data transmission apparatus 101. 6 is a flowchart showing the operation of the data transmission apparatus 101. The flowchart which shows the calculation process of the satellite position error in each reference point. The flowchart which shows the calculation process of the ionospheric delay amount in each reference point. The figure which shows the delivery format of intrinsic | native error data. The functional block diagram which shows the function of the positioning apparatus 201. FIG. The figure which shows the positional relationship of an electronic reference point and an observation point (positioning apparatus 201). The figure which shows the concept of the linear interpolation in the case of calculating | requiring a satellite position error and an ionosphere delay amount. The figure which shows the example of the positioning result at the time of using a satellite position error and an ionosphere delay amount separately. The figure which shows the example of the positioning result at the time of using the synthesized value of a satellite position error and an ionosphere delay amount. The figure which shows the example of the positioning result when not using the correction data 3. FIG. The figure which shows the summary of the positioning result when the correction data by satellite position error and ionospheric delay amount use / not use. The figure which shows an example of the hardware constitutions of the data transmitter 101 and the positioning apparatus 201.

Explanation of symbols

  1 positioning information, 2 electronic reference point information, 3 correction data, 10a, 10n electronic reference point, 100 center station, 101 data transmission device, 102 source data collection processing unit, 103 correction data calculation unit, 1031 inherent error data generation unit, 1032 Observation data generation unit, 104 data transmission unit, 105 electronic reference point data storage unit, 201 positioning device, 202 correction data reception unit, 203 intrinsic error calculation unit, 204 positioning unit, 300a, 300n GPS satellite, 400 quasi-zenith satellite, 500 Correction data distribution system for positioning.

Claims (13)

A collection unit that collects electronic reference point information output by each electronic reference point of a plurality of electronic reference points based on signals received from each of a plurality of satellites and stores the information in a storage device;
A calculation unit that calculates a reference point inherent error indicating an amount of error inherent to each electronic reference point from the electronic reference point information acquired by the collection unit by the processing device for each electronic reference point;
A data transmission device comprising: a data transmission unit that transmits the reference point inherent error calculated by the calculation unit from the communication device as correction data for correcting the position of the positioning device. The calculation unit is
A first reference point inherent error between a first satellite of the plurality of satellites and a first electronic reference point of the plurality of electronic reference points; a second satellite of the plurality of satellites; A second reference point specific error between the electronic reference point and a reference point specific error between the first satellite, the first electronic reference point and the second electronic reference point of the plurality of electronic reference points; Calculating a single difference in error and a double difference in reference point inherent error between the first satellite, the second satellite, the first electronic reference point and the second electronic reference point;
From the calculated first reference point inherent error, second reference point inherent error, single difference and double difference, a third reference point inherent error between the first satellite and the second electronic reference point Calculating a fourth reference point inherent error between the second satellite and the second electronic reference point;
The first reference point inherent error, the second reference point inherent error, the third reference point inherent error, and the fourth reference point inherent error are defined as a reference point inherent error for the first electronic reference point. The data transmission apparatus according to claim 1, wherein: The calculation unit is
3. The data transmission apparatus according to claim 2, wherein the electronic reference point is selected as the first electronic reference point, and the reference point inherent error is calculated. The data transmission unit transmits, as correction data, only a reference point inherent error for a predetermined electronic reference point selected for each interval at which interpolation is performed, among the reference point inherent errors calculated by the calculation unit. The data transmission device according to any one of claims 1 to 3. 5. The data transmission unit transmits a pseudo distance and a carrier wave phase for one electronic reference point among the plurality of electronic reference points as correction data together with the reference point inherent error. The data transmission device according to any one of the above. 6. The data transmission apparatus according to claim 5, wherein the calculation unit calculates a value obtained by combining the satellite position error and the ionospheric delay amount as the reference point inherent error. A collection step of collecting electronic reference point information output by each electronic reference point of the plurality of electronic reference points based on signals received from each of the plurality of satellites;
A calculation step for calculating, for each electronic reference point, a reference point inherent error indicating an error amount specific to each electronic reference point from the electronic reference point information acquired in the collecting step;
A data transmission method comprising: a data transmission step of transmitting the reference point inherent error calculated in the calculation step as correction data for correcting the position of the positioning device. A collection process for collecting electronic reference point information output by each electronic reference point of a plurality of electronic reference points based on signals received from each of a plurality of satellites;
A calculation process for calculating, for each electronic reference point, a reference point inherent error indicating an error amount specific to each electronic reference point from the electronic reference point information acquired in the collection process;
A data transmission program for causing a computer to execute data transmission processing for transmitting the reference point inherent error calculated in the calculation processing as correction data for correcting the position of the positioning device. The data transmission device using, as correction data, a reference point inherent error indicating a specific error amount of each electronic reference point calculated by the data transmission device based on electronic reference point information output from each electronic reference point of a plurality of electronic reference points A receiving unit for receiving from a communication device;
An inherent error generation unit that complements the correction data received by the receiving unit and calculates the inherent error at the current approximate position by the processing device;
A positioning device comprising: a positioning unit that performs positioning by a processing device based on the inherent error at the current approximate position corrected by the inherent error generation unit and the reference point inherent error of a predetermined electronic reference point. The inherent error generator further includes a reference point inherent error included in the correction data received by the receiver when the reference point inherent error of the predetermined reference point is not included in the correction data received by the receiver. The positioning apparatus according to claim 9, wherein a reference point inherent error of the predetermined reference point is calculated by complementing the predetermined reference point. The positioning unit calculates a double difference between the current approximate position and the predetermined electronic reference point from the inherent error at the current approximate position and the reference point inherent error of the predetermined electronic reference point. The positioning device according to claim 9 or 10, wherein positioning is performed from the calculated double difference and position information of the predetermined electronic reference point. The data transmission device using, as correction data, a reference point inherent error indicating a specific error amount of each electronic reference point calculated by the data transmission device based on electronic reference point information output from each electronic reference point of a plurality of electronic reference points Receiving step to receive from,
An observation data generation step for generating own observation data based on a signal received from a satellite;
An inherent error generating step for generating the inherent error at the current approximate position by complementing the correction data received in the receiving step;
A positioning step for positioning based on the inherent error at the current approximate position corrected in the inherent error generating step, the reference point inherent error of the predetermined electronic reference point, and the position information of the predetermined reference point. Positioning method. The data transmission device using, as correction data, a reference point inherent error indicating a specific error amount of each electronic reference point calculated by the data transmission device based on electronic reference point information output from each electronic reference point of a plurality of electronic reference points Receive processing received from
Observation data generation processing for generating self-observation data based on signals received from satellites;
An inherent error generation process for generating the inherent error at the current approximate position by complementing the correction data received in the reception process;
Causes the computer to execute a positioning process for positioning based on the inherent error at the current approximate position corrected by the inherent error generation process, the reference point inherent error of the predetermined electronic reference point, and the position information of the predetermined reference point A positioning program characterized by this.

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