JP2010060421A - Positioning system for moving body and gnss receiving apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a positioning system for moving bodies for improving positioning accuracy. <P>SOLUTION: The positioning system for moving bodies for performing positioning computations on the basis of positioning signals transmitted from GNSS satellites has a reference station and a moving body. The reference station has both a means arranged at a fixed location for measuring the speed of the reference station on the basis of the Doppler range of satellite radio waves acquired by observations at the reference station and generating correction data on the basis of results of the measurement and a means for transmitting the correction data to the moving body. The moving body has both a means for receiving the correction data transmitted from the reference station and a positioning means for position the moving body on the basis of both observation data of satellite radio waves acquired by observations at the moving body and received correction data. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a mobile positioning system that receives a signal from a GNSS orbiting satellite and measures a position and a velocity.

  The Global Navigation Satellite System (GNSS) is a system that obtains the distance from each GNSS satellite by capturing three navigation satellites (GNSS orbiting satellites) (hereinafter referred to as GNSS satellites) from the aircraft, It is a navigation system that can obtain the flight position in three dimensions of the aircraft by adjusting the time with the signal from the eye navigation satellite. This satellite navigation includes the Global Positioning System (GPS), Galileo, etc.

For example, a GNSS receiver is mounted on a moving body and measures the position and speed of the moving body. For example, the GNSS receiving device measures the distances from the plurality of GNSS satellites to the own GNSS receiving device by receiving radio waves from a plurality of GNSS satellites, and based on these measured values, the GNSS receiving device Performs positioning of the mounted mobile body. The signal emitted by the GNSS satellite arrives at the GNSS receiver with a delay of the time that the radio wave propagates the distance between the GNSS satellite and the GNSS receiver. Therefore, if the time required for radio wave propagation is obtained for a plurality of GNSS satellites, the position of the GNSS receiver can be obtained by positioning calculation. For example, for radio waves emitted by a plurality of GNSS satellites, the distance from each GNSS satellite to the GNSS receiver is determined by the distance measuring unit of the GNSS receiver. Then, the positioning calculation unit obtains the position of the GNSS receiver based on the distance obtained by the ranging unit.
Japanese Patent No. 3505494

  However, the background art described above has the following problems.

  Relative positioning may be applied as an example of a positioning technique applied to satellite navigation. For example, RTK-GPS (realtime kinematic GPS) is applied as an example of relative positioning. In RTK-GPS, GNSS receivers for precision measurement are installed at both the reference point and the positioning point. In RTK-GPS, the observation data at the reference point and the positioning point are analyzed, and the relative positional relationship between the reference point and the positioning point is determined with high accuracy. For example, a GNSS receiver is mounted on a vehicle. In this case, the distance between the GNSS satellite and the vehicle is obtained, and the absolute position is derived using the obtained distance. At that time, a large error may occur. Specifically, an error in the order of meters (m) may occur. There is also a method of removing the error by applying RTK-GPS and using data of a reference station.

  Of the methods for positioning using a reference station, RTK-GPS has a large amount of communication data and is frequently updated. The communication data includes L1, L2, C / A code, P code, and the like.

  Of the methods of positioning using a reference station, DGPS (Differential GPS) also has a high communication frequency.

  The cause of poor positioning accuracy is that radio waves from GNSS satellites are affected by multipath. That is, radio waves from GNSS satellites are diffusely reflected by buildings and the like. For this reason, the GNSS receiver generates a measurement error by receiving the irregularly reflected radio wave. In addition, this poor positioning accuracy can be attributed to the effects of ionospheric errors and the effects of errors in time information contained in radio waves from GNSS satellites.

  When the observation amount is Doppler, it is necessary to remove the ionospheric error differential value and the clock error differential value error.

  The present invention has been made in view of the above-described points, and an object of the present invention is to provide a mobile positioning system and a GNSS receiver that can improve positioning accuracy.

In order to solve the above problems, this mobile positioning system
A mobile positioning system that performs positioning calculations based on positioning signals transmitted by GNSS satellites,
Correction data generating means provided in a reference station arranged at a fixed position, positioning the speed of the reference station based on the Doppler range of satellite radio waves obtained by observation at the reference station, and generating correction data based on the positioning result When,
A data transmission means provided in the reference station for transmitting the correction data to a mobile body;
Data receiving means provided on the mobile body for receiving correction data transmitted from the reference station;
Positioning means for positioning the position of the mobile body based on observation data of satellite radio waves obtained by observation with the mobile body and the correction data received by the data receiving means; Have.

In other examples,
The correction data generation means integrates the positioning results of the speed of the reference station for a predetermined time, obtains an average speed based on the accumulated value,
The data transmission means transmits the average speed as correction data.

In other examples,
The correction data generating means integrates the positioning result of the speed of the reference station for a predetermined time, and determines the drift angle based on the accumulated value,
The data transmission means transmits the drift angle as correction data.

In other examples,
A satellite selection means provided in the reference station for selecting a GNSS satellite for transmitting a positioning signal;
The correction data generation means generates correction data for each combination of GNSS satellites selected by the satellite selection means,
The positioning means measures the position of the moving body based on correction data corresponding to the combination of GNSS satellites based on the combination of GNSS satellites used to obtain the observation data.

In other examples,
The data transmission means transmits observation data of satellite radio waves obtained by observation at the reference station to the mobile body,
Means for calculating correction data by calculating a velocity of the reference station based on a Doppler range of a satellite radio wave obtained by observing at the reference station.

In other examples,
Whether the moving body is stopped based on the observation data of the speed of the moving body obtained by observing with the moving body and the correction data received by the data receiving means. Means for determining whether or not.

This GNSS receiver
A GNSS receiver that performs a positioning operation based on a positioning signal transmitted by a GNSS satellite,
Correction data generating means for positioning the speed of the GNSS receiver based on the Doppler range of satellite radio waves obtained by observation with the GNSS receiver, and generating correction data based on the positioning result;
Positioning means for positioning the position of the GNSS receiver based on observation data of satellite radio waves obtained by observation with the GNSS receiver and the correction data.

In other examples,
The correction data generation means integrates the positioning results of speeds observed when the GNSS receiver is stopped for a predetermined time, and obtains an average speed based on the accumulated values.

In other examples,
The correction data generation means integrates the positioning results of speeds observed when the GNSS receiver is stopped for a predetermined time, and obtains a drift angle based on the accumulated value.

  According to the disclosed mobile positioning system and GNSS receiver, positioning accuracy can be improved.

  Next, the best mode for carrying out the present invention will be described based on the following embodiments with reference to the drawings.

  In all the drawings for explaining the embodiments, the same reference numerals are used for those having the same function, and repeated explanation is omitted.

(First embodiment)
A GNSS (Global Navigation Satellite System) according to the present embodiment will be described with reference to FIG.

  The GNSS according to the present embodiment includes a GNSS receiver 100. The GNSS receiver 100 is mounted on a mobile object, for example. The mobile body includes an information terminal such as a mobile terminal that moves as a person moves, such as a vehicle, a motorcycle, a train, a ship, an aircraft, and a robot.

  Further, the GNSS according to the present embodiment includes a reference station 300. The reference station 300 transmits correction data used to correct the positioning data obtained in the GNSS receiver 100 to the GNSS receiver 100.

  The GNSS receiver 100 and the reference station 300 according to the present embodiment will be described with reference to FIG.

  The GNSS receiver 100 according to the present embodiment includes a receiving unit 102. The receiving unit 102 receives the positioning signal transmitted from the GNSS satellite 200 and inputs it to the positioning processing unit 104. The GNSS satellite 200 includes, for example, a GPS (Global Positioning System) satellite, Glonas (GLONASS), Galileo (GALILEO), and the like. In the present embodiment, a case where a GPS satellite is applied will be described as an example, but another satellite may be applied. GPS satellites constantly broadcast navigation messages to the earth. The navigation message includes orbit information about the corresponding GPS satellite, clock correction value, and ionospheric correction coefficient. The navigation message is spread by the C / A code, is carried on the L1 carrier (frequency: 1575.42 MHz), and is constantly broadcast toward the earth. Currently, 24 GPS satellites orbit the earth at an altitude of about 20,000 km, and each of the 4 GPS satellites is equally placed on six orbiting earth surfaces inclined by 55 degrees. Therefore, as long as the sky is open, at least 5 GPS satellites can be observed at any time on the earth.

  The receiving unit 102 has a built-in oscillator whose frequency matches the carrier frequency of the GPS satellite. The receiving unit 102 converts a radio wave (satellite signal) received from a GPS satellite into an intermediate frequency, and then performs C / A code synchronization using the C / A code generated in the receiving unit 102 to extract a navigation message. . The receiving unit 102 also receives correction data transmitted from the reference station 300 and inputs the correction data to the positioning result correction unit 106 described later.

  The receiving unit 102 measures the pseudo distance based on the C / A code that is carried on each carrier wave from the GPS satellite. The pseudo distance measured here includes an error such as a distance error. The distance error is also called a clock bias and includes a distance error due to a clock error in the GNSS receiver 100.

  Moreover, the GNSS receiver 100 measures a Doppler range.

  This embodiment can be applied to both single positioning and relative positioning as an example of positioning technology applied to the GNSS receiver 100. For example, correction data is transmitted from the reference station, and the surveyed coordinates are corrected based on the correction data. RTK-GPS (realtime kinematic GPS) is applied as an example of relative positioning. In RTK-GPS, GNSS receivers for precision measurement are installed at both the reference point and the positioning point. In RTK-GPS, the observation data at the reference point and the positioning point are analyzed, and the relative positional relationship between the reference point and the positioning point, that is, the baseline vector is determined with high accuracy.

  In RTK-GPS, the reference station 300 is installed at a fixed position. This reference station 300 may be called a base station. In RTK-GPS, a relative positioning technique for obtaining a baseline solution using the carrier phase integrated value in the reference station 300 and the GNSS receiver 100 is applied. The reference station 300 receives the positioning signal transmitted from the GNSS satellite 200, and calculates the carrier phase integrated value based on the positioning signal. Then, the reference station 300 transmits a correction signal including the calculated carrier phase signal.

  The GNSS receiver 100 according to the present embodiment includes a positioning processing unit 104.

In the GNSS receiver 100, correction data from the reference station side is received every predetermined period. Further, in the receiving unit 102, a phase integrated value (L1 data, L2 data) and pseudorange (C / A data) on the GNSS receiving apparatus 100 side are acquired. Each data such as the observation data on the reference station side and the observation data on the GNSS receiver 100 side may be synchronized using GPS time, PSS signal, or the like. The observation data on the reference station side and the observation data on the GNSS receiver 100 side are respectively supplied to a positioning result correction unit 106 and a positioning processing unit 104 described later. The positioning processing unit 104 obtains a positioning solution of the GNSS receiving apparatus 100 based on the supplied observation data on the GNSS receiving apparatus 100 side. Then, the positioning processing unit 104 inputs the obtained positioning solution to the positioning result correcting unit 106. When the correction data includes a speed offset amount, the positioning result correction unit 106 inputs the speed offset amount to the positioning processing unit 104. The positioning processing unit 104 corrects the speed measured in the GNSS receiving apparatus 100 based on the input speed offset amount, and obtains a positioning solution of the GNSS receiving apparatus 100. The positioning result correcting unit 106 receives correction data Is entered. The positioning result correction unit 106 sets a constraint condition to be used for the positioning calculation of the GNSS receiver 100 based on the input correction data. For example, in the case where the offset amount of the speed of the correction data is included, the condition for the speed of the GNSS receiving apparatus 100 is used as a constraint condition at the time of positioning calculation of the position of the GNSS receiving apparatus 100. For example, the condition for the speed of the GNSS receiver 100 may be a speed offset amount (ΔVe, ΔVn, ΔVh). The offset amount of the speed may be an average speed measured at the reference station 300, for example, an average speed of 30 seconds-1 minutes. Here, for example, ΔVe indicates the offset amount of the velocity in the east-west direction, ΔVn indicates the offset amount of the velocity in the north-south direction, and ΔVh indicates the offset of the velocity in the height direction. The positioning result correction unit 106 introduces a correction value into the positioning calculation obtained by the positioning processing unit 104 based on the condition for the speed of the GNSS receiving apparatus 100. The positioning processing unit 104 calculates the speed in the GNSS receiver 100 based on the Doppler data. As a result, the positioning result is corrected. Then, the positioning calculation correction unit 106 stores the corrected positioning result in the positioning result storage unit 108.

  The positioning result storage unit 108 stores the corrected positioning result.

  The reference station 300 according to the present embodiment includes a correction data calculation unit 302 and a transmission unit 304. The correction data calculation unit 302 obtains the speed v (t) of the reference station 300 based on the Doppler data. For example, the correction data calculation unit 302 calculates the speed v (t) of the reference station 300 for each calculation cycle, integrates (integrates) the speed v (t) for a predetermined time, and based on the integrated value, the speed offset The amount may be obtained. For example, the correction data calculation unit 302 calculates an average speed of 30 seconds to 1 minute.

  Here, the speed v (t) of the reference station 300 should be essentially zero because it is a fixed facility where the reference station 300 does not move. However, as shown in FIGS. 3A, 3B, and 3C, there is actually a minute offset in the calculated speed v of the reference station 300 depending on the number of satellites, the satellite arrangement, and the like. The integrated value (integrated position) of the speed v of the reference station 300 becomes an error. In FIG. 3, the horizontal axis indicates the time, and the vertical axis indicates the output result of the speed at the stationary point. 3A shows an example of the offset amount of the speed in the east-west direction, FIG. 3B shows an example of the offset amount of the speed in the north-south direction, and FIG. 3C shows the offset amount of the speed in the height direction. An example is shown.

  Correction data calculated by the correction data calculation unit 302 is supplied to the transmission unit 304 at predetermined intervals. Then, the transmission unit 304 transmits the correction data as transmission data to the GNSS receiver 100. The transmission data may include other information (for example, the position information of the reference station 300 known by surveying and the satellite number used for calculating the speed offset amount). Further, the correction data need not always be included in the transmission data every observation data transmission period (observation period), and may be included periodically every period longer than the observation data transmission period. .

  The ionospheric differential error and the clock differential error included in the Doppler data are very small. Since the error included in the velocity derived from the Doppler data of each satellite can be extracted as a common error when the satellites are common, the error can be removed. For example, even at a point about 160 km away from the GPS satellite, a common error can be obtained.

  According to the present embodiment, the offset amount of the speed obtained at the reference station is used. When the GNSS receiver is stationary, it can be corrected based on the speed required by the GNSS receiver, but this is not possible while the mobile object equipped with the GNSS receiver is running. Even if measurement is performed in a stationary state, if the satellite used in the measurement changes, the measured value cannot be used. By using the speed offset amount obtained at the reference station arranged at the fixed position, it is possible to correct the speed even when the mobile object equipped with the GNSS receiver is traveling.

  According to the present embodiment, based on the speed offset amount obtained at the reference station, the GNSS receiver can correct the speed obtained by the GNSS receiver and the integrated positioning of the speed. Can be

(Second embodiment)
The GNSS according to the present embodiment will be described.

  In the reference station 300 according to the present embodiment, the speed v (t) of the reference station 300 is obtained based on the Doppler data, the speed v (t) is integrated (integrated) for a predetermined time, and the drift rate is calculated based on the integrated value. (Α, β, γ) is calculated. For example, the correction data calculation unit 302 calculates the speed v (t) of the reference station 300 every calculation cycle, integrates (integrates) the speed v (t) for a predetermined time, and based on the integrated value, the drift rate ( α, β, γ) is calculated. For example, the correction data calculation unit 302 adds up a predetermined time, for example, 30 seconds to 1 minute, and obtains the drift angle.

  Here, the speed v (t) of the reference station 300 should be essentially zero because it is a fixed facility where the reference station 300 does not move. However, as shown in FIG. 4, in actuality, there is a minute offset in the calculated speed v of the reference station 300 depending on the number of satellites, the satellite arrangement, and the like. Position) drifts. It can be considered that the drift rate at this time is substantially the same even in the GNSS receiver 100 existing at a position close to the reference station 300. This is because a drift error occurs even when the GPS speed is calculated and integrated in the GNSS receiver 100.

Specifically, in the correction data calculation unit 302, components (v _x , v _y , v _z ) in each direction of the velocity vector v of the reference station 300 are integrated as an initial value zero. This integration time is an appropriate time for which the drift rate can be calculated, but may be about 1 minute, for example. As a result, for example, as shown in FIGS. 4A, 4B, and 4C, the integrated position in the x direction, the integrated position in the y direction, and the integrated position in the z direction are calculated. The x direction, the y direction, and the z direction may be any of the east-west direction, the north-south direction, and the height direction. Then, the correction data calculation unit 302 calculates drift rates (inclination angles α, β, γ) of the accumulated position in the x direction, the accumulated position in the y direction, and the accumulated position in the z direction. For example, the drift rate (α, β, γ) is calculated by dividing each of the accumulated position in the x direction, the accumulated position in the y direction, and the accumulated position in the z direction by the accumulated time. From the same viewpoint, the drift rates (α, β, γ) are calculated by averaging the components in each direction of each velocity vector v of the reference station 300 calculated over a predetermined time (= integrated time). May be. Further, the drift rate may be derived in a two-dimensional direction in addition to being calculated in each direction. For example, as shown in FIG. 5, for example, when the velocity vector of the reference station 300 is calculated in the local horizontal plane coordinate system, the drift rate ζ representing the relationship between the accumulated position of the east-west direction component and the accumulated position of the north-south direction component is It may be calculated. That is, in the example shown in FIG. 5, the drift rate ζ is calculated by dividing the accumulated position of the north-south direction component by the accumulated position of the east-west direction component.

  The positioning processing unit 104 obtains a positioning solution of the GNSS receiving apparatus 100 based on the supplied observation data on the GNSS receiving apparatus 100 side. Then, the positioning processing unit 104 inputs the obtained positioning solution to the positioning result correcting unit 106.

  Correction data is input to the positioning result correction unit 106. The positioning result correction unit 106 sets a constraint condition to be used for the positioning calculation of the GNSS receiver 100 based on the input correction data. For example, when the correction data includes the drift azimuth angle of the integrated positioning result, the condition for the drift azimuth angle of the GNSS receiver 100 is used as a constraint condition during the positioning calculation of the position of the GNSS receiver 100. For example, the condition for the drift azimuth angle of the GNSS receiver 100 may be a drift rate (α, β, γ). The drift rate may be obtained based on an integration result measured at the reference station 300 for 30 seconds-1 minutes. The positioning result correction unit 106 corrects the positioning result obtained by the positioning processing unit 104 based on the conditions for the drift rates (α, β, γ) of the GNSS receiver 100. For example, a correction amount of the velocity vector may be created. The positioning result correction unit 106 derives a velocity vector [Ve Vn Vu] and integrates the velocity vectors. For example, the relative movement distance between the k epoch and the k + 1 epoch is expressed by equation (1).

式（１）において、（ΔE，ΔN，ΔU）は、時間ΔＴ間でのGNSS受信装置１００の移動量を表し、（Ve，Vn，Vu）は、GNSS受信装置１００の速度を表す。尚、GNSS受信装置１００の移動量及び速度の各成分は、地球固定座標系で表されているが、他の座標系（例えば局地水平面座標系）でも考え方は同様である。但し、局地水平面座標系を用いる場合は基準局３００側とGNSS受信装置１００側とで用いるそれぞれの局地水平面座標系の原点を一致させる必要があり、例えば基準局３００の位置に原点を一致させる。また、数（１）において、ｋはエポック（即ち観測周期番号）を表し、従って、ΔＴは、１エポックの周期であり、（ΔE，ΔN，ΔU）は、ｋエポックからｋ＋１エポックまでの１エポック間での移動量を表す。

In equation (1), (ΔE, ΔN, ΔU) represents the amount of movement of the GNSS receiver 100 during the time ΔT, and (Ve, Vn, Vu) represents the speed of the GNSS receiver 100. In addition, although each component of the movement amount and speed of the GNSS receiver 100 is expressed in the earth fixed coordinate system, the concept is the same in other coordinate systems (for example, a local horizontal plane coordinate system). However, when the local horizontal plane coordinate system is used, it is necessary to match the origins of the local horizontal plane coordinate systems used on the reference station 300 side and the GNSS receiver 100 side. Further, in the number (1), k represents an epoch (that is, an observation period number), therefore ΔT is a period of one epoch, and (ΔE, ΔN, ΔU) is one epoch from k epoch to k + 1 epoch. This represents the amount of movement between the two.

  As a result, the positioning result is corrected. Then, the positioning calculation correction unit 106 stores the corrected positioning result in the positioning result storage unit 108.

  According to the present embodiment, since the GNSS receiver can correct the positioning solution obtained in the GNSS receiver based on the drift azimuth obtained in the reference station, the positioning solution can be highly accurate.

(Third embodiment)
The GNSS according to the present embodiment will be described.

  In the reference station 300 according to the present embodiment, a speed offset amount or a drift rate when the combination is changed is obtained from the GNSS satellites received by the reference station 300. In this case, the reference station 300 transmits the offset amount or drift rate and the number of the GNSS receiver used to obtain the offset amount or drift rate. As the combination of GPS satellites changes, the drift amount and offset amount change. This is because there are various GPS satellites that can be received by the GNSS receiver. In particular, when a C / A code is used, the change in error becomes large.

  In the GNSS receiver 100 according to the present embodiment, transmission is performed by a similar GPS satellite based on the offset amount or drift rate transmitted by the reference station 300 and the number of the GPS satellite used to obtain the offset amount or drift rate. A positioning solution is obtained using the received radio wave. The positioning solution is corrected based on the correction data transmitted by the reference station 300.

  Further, the reference station 300 may transmit the drift rate calculated by changing the combination of the satellites. In this case, the GNSS receiver 100 may select the drift rate based on the reception status.

  According to the present embodiment, the combination of the GPS satellites that transmit the radio waves received by the reference station is changed to obtain the offset amount or the drift rate, and the GPS satellites are transmitted together with the combination of GPS satellites. By doing this, the GNSS receiver can see and block various satellites depending on the environment, but based on the combination of transmitted GPS satellites, the GPS satellites required to obtain a positioning solution can be obtained. You can choose.

  In the above-described embodiment, the reference station 300 may transmit the survey coordinates and Doppler data measured by the reference station 300 to the GNSS receiver 100. In this case, the GNSS receiver 100 obtains the speed offset amount described in the first embodiment or the drift rate described in the second embodiment based on the received survey coordinates and Doppler data. Then, the GNSS receiver 100 obtains a positioning solution based on a radio wave transmitted by a satellite similar to the GPS satellite for which Doppler data is obtained in the reference station 300, and based on the obtained offset amount or drift rate. to correct. By doing so, the amount of calculation processing in the reference station 300 can be reduced.

  In the embodiment described above, the positioning coordinates and the Doppler data of each GPS satellite may be a C / A code and Doppler data of each GPS satellite. Further, the Doppler data may be an ADR (Accumulated Doppler Range) difference. ADR is obtained by integrating Doppler frequencies.

  In the embodiment described above, the GNSS receiver 100 obtains the speed v (t) of the GNSS receiver 100 based on the Doppler data when stopped, and based on the speed v (t), the speed offset amount or drift The rate may be obtained. Then, the GNSS receiver 100 corrects the positioning solution based on the speed offset amount or the drift rate. By doing so, the positioning solution can be corrected without receiving correction data from the reference station 300.

  Further, the GNSS receiver 100 compares the correction data transmitted from the reference station 300 with the speed offset amount or drift rate obtained by the GNSS receiver 100 to determine whether the GNSS receiver 100 is stopped. You may make it do.

  Further, the GNSS receiver 100 may have a plurality of antennas as shown in FIG. The positioning processing unit 104 measures the state of the vehicle based on the positioning signals input from the plurality of antennas, and obtains a positioning solution by the same method as described above based on the state of the vehicle. The vehicle state includes vehicle tilt, roll pitch, and yaw angle. By doing in this way, since positioning calculation can be performed based on the state of a vehicle, positioning accuracy can be improved. Although FIG. 6 shows a GNSS receiver having three antennas, it may be plural, and may be two or four or more.

  In the system according to the present embodiment, the relative movement position is derived from the initial value. This is different from sending an absolute position in the global coordinate system.

  In the system according to the present embodiment, positioning is possible without any problem if the accuracy is about 10 m. For this reason, it is not necessary to know the exact coordinates of the reference station. Moreover, you may make it perform single sample independent positioning.

  In the system according to the present embodiment, positioning using speed is performed. The amount of observation in determining the speed is Doppler. It was confirmed that the error obtained after accumulating the speed at the reference station is common on the vehicle side. For this reason, the system according to the present embodiment is different from the positioning using the distance. The amount of observation in positioning using this distance includes radio wave propagation time.

  Further, the positioning at the speed (Doppler) has a feature that the measurement error due to multipath is less likely to occur than when the distance is used. For this reason, in the system according to the present embodiment, the influence of multipath can be reduced.

  For convenience of explanation, specific numerical examples will be described to facilitate understanding of the invention. However, unless otherwise specified, these numerical values are merely examples, and any appropriate value may be used.

  Although the present invention has been described above with reference to specific embodiments, each embodiment is merely an example, and those skilled in the art will understand various variations, modifications, alternatives, substitutions, and the like. I will. For convenience of explanation, an apparatus according to an embodiment of the present invention has been described using a functional block diagram, but such an apparatus may be realized by hardware, software, or a combination thereof. The present invention is not limited to the above-described embodiments, and various variations, modifications, alternatives, substitutions, and the like are included without departing from the spirit of the present invention.

It is the schematic which shows GNSS (Global Navigation Satellite System) which concerns on one Example. It is a functional block diagram which shows the reference station and GNSS receiver which concern on one Example. It is explanatory drawing which shows an example of the speed output result in a stationary point. It is explanatory drawing which shows the relationship between the integrated value of each component of the velocity vector of a reference station, and a drift rate. It is explanatory drawing which shows the other calculation aspect of a drift rate. It is a functional block diagram which shows the GNSS receiver which concerns on one Example.

Explanation of symbols

100 GNSS receiver apparatus 102 _{(102 1,} 102 2, ₁₀₂ 3) receiving section 104 positioning processor 106 positioning result correction unit 108 positioning result storage unit 200 GNSS satellite 300 base station 302 the correction data calculation unit 304 transmission unit

Claims (9)

A mobile positioning system that performs positioning calculations based on positioning signals transmitted by GNSS satellites,
Correction data generating means provided in a reference station arranged at a fixed position, positioning the speed of the reference station based on the Doppler range of satellite radio waves obtained by observation at the reference station, and generating correction data based on the positioning result When,
A data transmission means provided in the reference station for transmitting the correction data to a mobile body;
Data receiving means provided on the mobile body for receiving correction data transmitted from the reference station;
Positioning means for positioning the position of the mobile body based on observation data of satellite radio waves obtained by observation with the mobile body and the correction data received by the data receiving means; A positioning system for a moving body, comprising: In the mobile pair positioning system according to claim 1,
The correction data generation means integrates the positioning results of the speed of the reference station for a predetermined time, obtains an average speed based on the accumulated value,
The data transmission means transmits the average speed as correction data. In the mobile pair positioning system according to claim 1,
The correction data generating means integrates the positioning result of the speed of the reference station for a predetermined time, and determines the drift angle based on the accumulated value,
The data transmission means transmits the drift angle as correction data. The positioning system for mobile pairs according to any one of claims 1 to 3,
Provided in the reference station, having satellite selection means for selecting a GNSS satellite that transmits a positioning signal,
The correction data generation means generates correction data for each combination of GNSS satellites selected by the satellite selection means,
The positioning means measures the position of the moving body based on correction data corresponding to the combination of GNSS satellites based on the combination of GNSS satellites used to obtain the observation data. Mobile positioning system. In the positioning system for moving bodies according to claim 1,
The data transmission means transmits observation data of satellite radio waves obtained by observation at the reference station to the mobile body,
A positioning system for a moving body, comprising: means for generating correction data by calculating a velocity of the reference station based on a Doppler range of a satellite radio wave obtained by observing at the reference station. In the positioning system for moving bodies according to claim 5,
Whether or not the moving body is stopped based on the observation data of the speed of the moving body obtained by observing with the moving body and the correction data received by the data receiving means. A positioning system for a moving body, characterized by comprising means for determining whether or not. A GNSS receiver that performs a positioning operation based on a positioning signal transmitted by a GNSS satellite,
Correction data generating means for positioning the speed of the GNSS receiver based on the Doppler range of satellite radio waves obtained by observation with the GNSS receiver, and generating correction data based on the positioning result;
A GNSS receiver comprising: positioning means for positioning a position of the GNSS receiver based on observation data of satellite radio waves obtained by observation with the GNSS receiver and the correction data. The GNSS receiver according to claim 7,
The correction data generating means integrates positioning results of speeds observed when the GNSS receiver is stopped for a predetermined time, and obtains an average speed based on the integrated values. apparatus. The GNSS receiver according to claim 7,
The correction data generation means integrates the positioning results of the speed observed when the GNSS receiver is stopped for a predetermined time, and obtains a drift angle based on the accumulated value. Receiver device.

Images