JP2011027468A - Data generation apparatus, receiving apparatus, program, and displacement measuring system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce the amount of communication data between a plurality of receiving apparatuses and a positioning apparatus in a GPS/GNSS satellite positioning system. <P>SOLUTION: Positioning data including a reception time, a satellite ID, and the decimal part of carrier phase extracted from observation data output from a receiver, is generated by a positioning data generation unit 52, and is stored in a positioning data storage unit 53. For a plurality pieces of successive positioning data, compressed data including a representative reception time, a satellite ID, and the decimal part of the sum of carrier phase for the same satellite ID is generated for each positioning data in a compressed unit period by a compressed data generation unit 54, and is stored in the positioning data storage unit 53. A plurality pieces of compressed data in a period under positioning and positioning data in the first compressed unit period are transmitted by a transmission control unit 55 to a displacement analysis apparatus 20 through a wireless communications apparatus 33. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a data generation device, a reception device, a program, and a displacement measurement system.

  Conventionally, it is very important to measure the amount of settlement during and after construction of a structure, and to measure the residual displacement of important structures such as airport runways and expressways immediately after an earthquake. As a displacement measurement system for such a measurement, for example, a system using an optical fiber cable or a surveying GPS (Global Positioning System) is known (Non-patent Document 1). However, the displacement measurement system disclosed in Non-Patent Document 1 is not suitable for applications in which a wide area is measured at high density because the cost of equipment required for the system is high and wired communication is required.

  Therefore, a positioning system using a plurality of receiving devices including an inexpensive single-frequency GPS receiver and a wireless communication device, and a displacement analyzing device that analyzes displacement based on data transmitted wirelessly from the plurality of receiving devices. Has been proposed (Non-Patent Document 2).

  A displacement measurement system that reduces the amount of communication data between a plurality of receiving devices and a displacement analysis device is known (Patent Document 1). In this displacement measurement system, a receiving device generates positioning data including a reception time extracted from observation data from a GPS receiver, a satellite ID, and a decimal part of a carrier phase, and performs time-series positioning. Data is transmitted to the displacement analyzer.

Soro Hori, 3 others, "Measurement of ground conditions using RTK-GPS and verification of accuracy", Proceedings of the Japan Society of Civil Engineers, Japan Society of Civil Engineers, March 2003, Vol. 729, III-62 No., p. 177-183 Masayuki Saeki and two others, "Development of a multi-point displacement measurement system using a single frequency GPS receiver and wireless LAN", Journal of Applied Mechanics, Japan Society of Civil Engineers, August 2005, Vol. 8, p. 645-652

JP 2008-122293 A

  In order to measure displacement with accuracy of several millimeters to several centimeters using GPS, it is necessary to perform interference positioning. In order to perform interference positioning, it is necessary to analyze the data received at the reference point and the moving point together, so either one data must be sent to the other or both data sent to the displacement analyzer. There is a need to. In the receiving device shown in Non-Patent Document 2, the observation data output from the GPS receiver is transmitted to the displacement analysis device via the wireless communication device, which increases the amount of communication data. There's a problem. This problem has led to an increase in data communication time and an increase in power consumption.

  In the technique described in the above-mentioned Patent Document 1, in order to solve the above-mentioned problem, only the really necessary data is extracted from the observation data generated in time series, and the positioning data is generated. Since only the positioning data is transmitted to the displacement analyzer, the amount of communication data has been greatly reduced. If the amount of communication data can be reduced as in the technique described in Patent Document 1, it is possible to reduce the wireless communication time. In addition, this makes it possible to shorten the energization time of the wireless communication device, so that the power consumption of the wireless communication device can be reduced.

  The present invention further develops the above-described data amount reduction technology, further greatly compresses the data communication amount by the wireless communication device, and communication data between a plurality of receiving devices and a displacement analysis device in GPS displacement measurement. It is an object of the present invention to provide a data generation device, a reception device, a program, and a displacement measurement system that can reduce the amount.

  In order to achieve the above object, a data generation device according to a first invention includes a reception time of a carrier wave from a satellite included in observation data output from a GPS receiver, a satellite ID for identifying the satellite, And a plurality of positioning data generating means for generating positioning data including the extracted reception time, the satellite ID, and the decimal part of the carrier phase. For each of the positioning data, the reception time based on the reception time included in each positioning data, the satellite ID, and the carrier phase for the same satellite ID included in each positioning data Compressed data generation means for generating compressed data each including a fractional part of the sum or an average fractional part of the carrier phase for the same satellite ID. To have.

  A receiving device according to a second invention includes a GPS receiver that receives a carrier wave from a satellite via an antenna and outputs observation data, a wireless communication device, and the observation data output from the GPS receiver. The reception time of the carrier wave from the satellite, the satellite ID for identifying the satellite, and the decimal part of the carrier wave phase are extracted, and the extracted reception time, the satellite ID, and the decimal part of the carrier wave phase are extracted. Positioning data generating means for generating positioning data including a plurality of continuous positioning data, and receiving for each predetermined predetermined number of positioning data based on the reception time included in each positioning data Includes a fractional part of the sum of the carrier phases for the same satellite ID included in the time, the satellite ID, and each positioning data, or an average fractional part of the carrier phase for the same satellite ID. Compressed data generating means for generating compressed data each comprising: a plurality of compressed data generated by the compressed data generating means; at least one positioning data generated by the positioning data generating means; Is transmitted to the displacement analysis device capable of calculating the relative positional relationship between the plurality of GPS receivers based on the reception time, the satellite ID, and the decimal part of the carrier phase via the wireless communication device. And transmitting means.

  According to a third aspect of the present invention, there is provided a computer program including: a reception time of a carrier wave from a satellite included in observation data output from a GPS receiver; a satellite ID for identifying the satellite; and a decimal part of a carrier phase. Positioning data generating means for generating positioning data including the extracted reception time, the satellite ID, and the fractional part of the carrier phase extracted, and the generated positioning data in a memory Positioning data storage control means for storing, for a plurality of continuous positioning data, for each predetermined number of positioning data, the reception time based on the reception time included in each positioning data, the satellite ID, and each positioning data A compression comprising a fractional part of the sum of the carrier phases for the same satellite ID included or a fractional part of the average of the carrier phases for the same satellite ID Compressed data generation means for generating each of the data, compressed data storage control means for storing the generated plurality of compressed data in a memory, the plurality of compressed data stored in the memory, and at least one of the data The positioning data is transmitted via a wireless communication device to a displacement analyzer capable of calculating the relative positional relationship between the plurality of GPS receivers based on the reception time, the satellite ID, and the decimal part of the carrier phase. It is a program for functioning as a data transmission means.

  According to a fourth aspect of the invention, there is provided a program for causing a computer to receive a carrier wave from a satellite extracted from observation data output from a GPS receiver, a satellite ID for identifying the satellite, and a fractional part of a carrier wave phase. For the positioning data configured to include a plurality of continuous positioning data, the reception time based on the reception time included in each positioning data, obtained for each predetermined number of continuous positioning data, the satellite ID A plurality of compressed data configured to include a decimal part of the sum of the carrier phases for the same satellite ID included in each positioning data or an average fraction of the carrier phase for the same satellite ID; From the memory stored for each, the GPS receiver serving as a reference point in interference positioning and at least one positioning data corresponding to the positioning target period and A plurality of compressed data, the GPS receiver serving as an unknown point, at least one positioning data corresponding to the positioning target period, and a plurality of compressed data reading means for reading out, the GPS reception serving as the unknown point Based on a plurality of compressed data in the GPS receiver at the reference point and the unknown point, with the coordinate value of the machine as a predetermined value, the double difference of the carrier phase is calculated from the approximate position of the GPS receiver and the satellite. The correction value corrected by the double difference of the distance between the reference point and the unknown point is calculated based on the positioning data in the GPS receiver at the reference point and the unknown point, respectively. The double difference calculation means for calculating, the carrier calculated based on the compressed data using the correction value of the double difference of the carrier phase calculated based on the positioning data Cycle slip correction means for correcting each cycle slip in each of the correction values of the phase double difference, and the GPS serving as the reference point based on the correction value of the carrier phase double difference in which the cycle slip is corrected It is a program for functioning as a relative position calculation means for calculating the relative position of the GPS receiver that is the unknown point with respect to the receiver.

  A displacement measurement system according to a fifth aspect of the present invention receives a carrier wave from a satellite via an antenna, and transmits a plurality of positioning data and compressed data wirelessly, and is transmitted from the plurality of receiving apparatuses. A displacement measuring system including a displacement analyzing device that calculates displacement based on the positioning data and the compressed data, wherein the receiving device receives the carrier wave and outputs observation data. Device, a wireless communication device, a reception time of a carrier wave from a satellite, a satellite ID for identifying the satellite, and a fractional part of a carrier phase included in the observation data output from the GPS receiver A positioning data generating unit configured to generate the positioning data including the extracted reception time, the satellite ID, and the decimal part of the carrier phase; For positioning data, for each predetermined number of positioning data, the reception time based on the reception time included in each positioning data, the satellite ID, and the sum of the carrier phase for the same satellite ID included in each positioning data A compressed data generating means for generating each of the compressed data configured to include a decimal part or an average decimal part of the carrier phase for the same satellite ID, a plurality of compressed data generated by the compressed data generating means, And positioning data transmitting means for transmitting at least one positioning data generated by the positioning data generating means to the displacement analysis device via the wireless communication device.

  As described above, according to the data generation device, the reception device, the program, and the displacement measurement system of the present invention, the reception time extracted from the observation data of the GPS receiver, the satellite ID, and the decimal part of the carrier wave phase are included. And generating compressed data including a fractional part of the sum of the carrier wave phases or an average fractional part for each of a predetermined number of consecutive positioning data. By transmitting the compressed data and at least one positioning data to the displacement analysis device, it is possible to reduce the amount of communication data between the plurality of reception devices and the displacement analysis device. The fact that the amount of communication data between the receiving apparatus and the displacement analyzing apparatus can be reduced, in other words, power saving of the power supply of the receiving apparatus is brought about.

It is the schematic which shows the structure of the displacement measuring system which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the structure of the receiver of the displacement measuring system which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the hardware constitutions of the receiver of the displacement measuring system which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the structure of the control part of the receiver of the displacement measuring system which concerns on the 1st Embodiment of this invention. It is a figure which shows the example of the data for positioning. It is a block diagram which shows the hardware constitutions of the radio | wireless communication apparatus of the receiver of the displacement measuring system which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the hardware constitutions of the displacement analyzer of the displacement measuring system which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the structure of the displacement analyzer of the displacement measuring system which concerns on the 1st Embodiment of this invention. It is a flowchart which shows the content of the transmission control processing routine in the control part of the receiver which concerns on the 1st Embodiment of this invention. It is a flowchart which shows the content of the initial stage calculation process routine in the displacement analyzer which concerns on the 1st Embodiment of this invention. It is a figure for demonstrating the double difference of a carrier wave phase. It is a graph which shows the change of the correction value of the double difference of the carrier wave phase calculated from the data for positioning. It is a graph which shows the change of the correction value of the double difference of the carrier wave phase by which cycle slip was corrected. It is a graph which shows the change of the correction value of the double difference of the carrier phase in which cycle slip was re-corrected. (A) a graph showing the change in the correction value of the double difference of the carrier phase based on the compressed data with the cycle slip appropriately corrected, and (B) the carrier phase based on the compressed data with the cycle slip corrected erroneously. It is a graph which shows the change of the correction value of double difference of. It is a flowchart which shows the content of the relative position calculation process routine in the displacement analyzer which concerns on the 1st Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  As shown in FIG. 1, the displacement measuring system according to the first embodiment of the present invention includes a plurality of receiving devices 10 and a displacement analyzing device 20. Each receiving device 10 is installed on a structure that is a quasi-static displacement measurement target, such as an airport, a port facility, a highway, or an embankment. The receiving device 10 and the displacement analyzing device 20, and the receiving device 10 and the receiving device. 10 is capable of wireless communication. In the displacement measurement system, the relative position between the receiving devices 10 is calculated in the displacement analyzing device 20 based on the data (positioning data and compressed data) transmitted from each receiving device 10. Then, the displacement analysis device 20 analyzes the displacement of the point where the reception device 10 is installed by comparing the relative position between the reception devices 10 at a certain point in the past with the current relative position between the reception devices 10. Is done.

  Each receiving device 10 receives a radio wave (carrier wave: for example, L1 carrier wave) from a satellite, and wirelessly transmits positioning data and compressed data necessary for positioning analysis of the relative position between the receiving devices 10 to the displacement analyzing device 20. Send. For example, as illustrated in FIG. 2, the reception device 10 includes a patch antenna 30, a GPS receiver 31, a control unit 32, a wireless communication device 33, a power supply 34, and a power supply control unit 35. The control unit 32 corresponds to the data generation device and the computer of the present invention.

  The patch antenna 30 receives radio waves (carrier waves) from satellites. The GPS receiver 31 samples radio waves (carrier waves) from a plurality of satellites received via the patch antenna 30 at a predetermined interval (for example, every 1 second), and, for example, BINARY format observation data is sampled (epoch). Output to. In the present embodiment, the GPS receiver 31 only needs to be able to receive one frequency such as an L1 carrier wave. The actual measurement result shown in the present embodiment is obtained by using a GPS receiver GT-8032 manufactured by Furuno Electric Co., Ltd. as the GPS receiver 31. GT-8032 can simultaneously search for radio waves from satellites in 16 channels and can capture up to 12 satellites.

  The control unit 32 converts the observation data output from the GPS receiver 31 into positioning data and compressed data necessary for analyzing the relative position between the receiving devices 10, and the displacement analyzing device 20 via the wireless communication device 33. Send to. The wireless communication device 33 is a device that can wirelessly transmit the positioning data and the compressed data output from the control unit 32 to the displacement analysis device 20, for example, an IEEE802.11b standard wireless LAN card or a specific low-power wireless device. Etc. can be realized.

  The power supply 34 is a supply source of power necessary for the operation of the receiving device 10 and can be realized using a battery or the like. When the power source 34 is a solar cell, a solar cell panel can be provided on the surface of the housing of the receiving device 10. Note that the power supply 34 includes a step-down / boost switching regulator for generating a voltage necessary for each unit in the receiving apparatus 10. The power control unit 35 controls power on / off of the GPS receiver 31 and the wireless communication device 33 under the control of the control unit 32. The power supply control unit 35 can be realized by, for example, a switch circuit using a MOSFET such as a photo MOS relay.

  Further, the control unit 32 may control the GPS receiver 31 and the wireless communication device 33 without going through the power supply control unit 35 to shift to the sleep mode or return from the sleep mode. The sleep mode consumes more power than when the power is turned off, but has an advantage of quick startup.

  A hardware configuration of the control unit 32 will be described. For example, as shown in FIG. 3, the control unit 32 includes a CPU 40, a program memory 41, a data memory 42, and a communication interface (I / F) 43. The CPU 40 implements various functions by reading and executing the program stored in the program memory 41. The program memory 41 is a nonvolatile rewritable storage device such as a flash memory. The data memory 42 is a storage device such as a RAM (Random Access Memory), and is used as a temporary storage area for data generated by the CPU 40. The communication interface 43 controls signal transmission / reception among the GPS receiver 31, the wireless communication device 33, and the power supply control unit 35. The communication interface 43 can realize data reception from the GPS receiver 31 and data transmission to the wireless communication device 33 by, for example, a circuit having a communication function based on UART (Universal Asynchronous Receiver Transmitter). Further, the communication interface 43 can receive a control signal from the wireless communication device 33 and transmit a control signal to the power supply control unit 35. In addition, the communication interface 43 and the GPS receiver 31, the wireless communication device 33, and the power supply control unit 35 can exchange bidirectionally. For example, the communication interface 43 can receive a response to the control signal and a signal for knowing the current state.

  A functional configuration of the control unit 32 will be described. For example, as shown in FIG. 4, the control unit 32 includes an observation data acquisition unit 51, a positioning data generation unit 52, a positioning data storage unit 53, a compressed data generation unit 54, and a transmission control unit 55. The The positioning data storage unit 53 is an example of a data storage unit, and the transmission control unit 55 is an example of a data transmission unit. The positioning data generation unit 52 is an example of a positioning data generation unit and a positioning data storage control unit.

  The observation data acquisition unit 51 transmits a control signal to the power supply control unit 35 before acquiring observation data from the GPS receiver 31 at a preset observation start time (for example, a predetermined time twice a day). Is output to power on the GPS receiver 31. Further, the observation data acquisition unit 51 outputs a control signal to the power supply control unit 35 when a preset observation period (for example, 5 minutes) has elapsed from the observation start time, whereby the power supply of the GPS receiver 31 is output. Disconnect. Thus, the observation data acquisition unit 51 acquires the observation data output from the GPS receiver 31 until the observation period elapses from the observation start time.

  Note that the observation start time may be set, for example, by receiving a command “observation after x seconds” transmitted from the displacement analysis apparatus 20.

  The positioning data generation unit 52 extracts information necessary for analyzing the relative position between the receiving devices 10 in the displacement analyzing device 20 from the observation data in the BINARY format or the like transmitted from the GPS receiver 31 and positioning. Data is generated and stored in the positioning data storage unit 53.

  The compressed data generation unit 54 generates time-series compressed data based on the time-series positioning data stored in the positioning data storage unit 53 and stores the time-series compressed data in the positioning data storage unit 53. The compressed data generated by the compressed data generation unit 54 may be transmitted as it is by the transmission control unit 55 without being stored in the positioning data storage unit 53.

  The transmission control unit 55 outputs the time-series positioning data stored in the positioning data storage unit 53 to the wireless communication device 33 for transmission at the initial stage when the position observation of the receiving device 10 is started. At this time, the transmission control unit 55 outputs a control signal to the power supply control unit 35 before starting data output to the wireless communication device 33, thereby turning on the power of the wireless communication device 33. In addition, when the transmission control unit 55 receives a data transmission completion signal from the wireless communication device 33 to the displacement analysis device 20, the transmission control unit 55 outputs a control signal to the power supply control unit 35, thereby powering the wireless communication device 33. Disconnect.

  Further, the transmission control unit 55 calculates the position of the receiving device 10 by the displacement analysis device 20 and, when the initial stage has passed, is stored in the positioning data storage unit 53, for example, for the first 3 seconds (3 epochs). ) Positioning data is output to the wireless communication device 33 for transmission. At this time, the transmission control unit 55 outputs a control signal to the power supply control unit 35 before starting data output to the wireless communication device 33, thereby turning on the power of the wireless communication device 33. In addition, the transmission control unit 55 outputs the time-series compressed data stored in the positioning data storage unit 53 to the wireless communication device 33 for transmission. When the transmission control unit 55 receives a data transmission completion signal from the wireless communication device 33 to the displacement analysis positioning device 20, the transmission control unit 55 outputs a control signal to the power supply control unit 35, thereby turning off the power of the wireless communication device 33. To do.

  Details of operations of the positioning data generation unit 52, the compressed data generation unit 54, and the transmission control unit 55 in the reception device 10 will be described later. The positioning data storage unit 53 is realized using the data memory 42. The positioning data generation unit 52, the compressed data generation unit 54, and the transmission control unit 55 are realized by the CPU 40 executing a program stored in the program memory 41.

  Here, the configuration of the positioning data generated by the positioning data generation unit 52 will be described. The observation data output from the GPS receiver 31 that is the origin of the positioning data includes (a) a rough coordinate value (for example, 12 bytes) of the receiving device and (b) reception as main data used for positioning analysis. Time (for example, 4 bytes), (c) Number of captured satellites (for example, 1 byte), (d) Satellite ID (for example, 1 byte / satellite), (e) Carrier phase (for example, 4 bytes / phase), (f) Code simulation The distance (eg 4 bytes / satellite) is included. The numerical values shown in parentheses for each data are examples of the number of bytes required when the data is represented in binary format. Since the maximum number of satellites captured at one time by the GPS receiver 31 is about 10 to 12, the total data amount of (a) to (f) in one epoch is about 107 to 125 bytes at the maximum. .

  “(A) Rough coordinate values of the receiving device” is required when estimating the accurate position of the receiving device 10. When performing the positioning analysis, the coordinates of the receiving device 10 to be positioned are unknown. Since the observation equation is nonlinear with respect to the coordinates of the unknown point, it is common to estimate the coordinate value after linearizing the equation using the perturbation method. At this time, it is necessary to assume the coordinate value of the receiving device 10 as an unknown point, but it is sufficient that the accuracy of the assumed value is several meters. In a positioning system based on multipoint measurement as shown in FIG. 1, the distance between adjacent receiving apparatuses 10 is often about 50 meters, for example. Therefore, in the present embodiment, in the initial stage of the receiving device 10, the coordinate value of the receiving device 10 serving as a reference point when calculating the relative position is assumed as the coordinate value of the receiving device 10 serving as an unknown point. In the positioning data, the data (a) is unnecessary.

  “(B) Reception time” represents the time when the data (c) to (f) are acquired. Since this reception time is necessary for calculating the position of the satellite, it is also necessary for the positioning data in this embodiment.

  “(C) Number of captured satellites” indicates the number of satellites that have received radio waves (carrier waves) in a certain epoch. “(D) Satellite ID” is an identifier for identifying a satellite that has received a radio wave (carrier wave) in a certain epoch. Since the number of captured satellites can be counted later if there is satellite ID information, it can be made unnecessary. The satellite ID information is always necessary for the positioning analysis.

  “(E) Carrier phase” is a phase value at the reception time of a radio wave (carrier wave) transmitted from a satellite captured by the receiving device 10, and the distance between the satellite and the receiving device 10 is several millimeters to Data measured with an accuracy of several centimeters. Since the carrier phase is phase information, it has an ambiguity of 2πN. Due to this ambiguity, the distance between the satellite and the patch antenna 30 connected to the receiving device 10 is unknown, but N is constant unless a cycle slip occurs. In general positioning analysis, such a property of N is used, and the integer part of the carrier phase is important information. On the other hand, in the present embodiment, the cycle slip can be corrected by the displacement analyzer 20 by the method described later, so that the integer part (for example, 3 bytes) of the carrier wave phase is not necessary and only the decimal part (for example, 1 byte) is used. I am going to do that.

  “(F) Code pseudorange” is necessary to calculate a rough coordinate value of the receiving device 10 or to calculate a real time when the receiving device 10 captured a radio wave (carrier wave) from a satellite. . However, the GPS receiver 31 of the present embodiment has a function of correcting the acquisition time of the radio wave (carrier wave) before outputting the observation data to the control unit 32, and the code pseudo distance is unnecessary.

  In the present embodiment, the configuration of the positioning data generated by the positioning data generation unit 52 is exemplified in FIG. As shown in FIG. 5, the positioning data includes a start flag (2 bytes), the number of captured satellites (1 byte), a reception time (4 bytes), a carrier phase data (2 bytes / satellite × 10), and a checksum ( 2 bytes) and 29 bytes in total. The start flag is a flag indicating the start of positioning data (packet). The carrier phase data includes 10 pieces of information (2 bytes) such as the carrier phase of each satellite. The information of each satellite includes a carrier phase (8 bits), an SN ratio (3 bits), and a satellite ID (5 bits). The S / N ratio indicates the ratio of signal to noise in the received radio wave (carrier wave), and can be used to improve the accuracy of positioning analysis in the displacement analyzer 20. The checksum is for detecting an error in positioning data. The compressed data generated by the compressed data generation unit 54 has the same configuration as the above positioning data.

  The compressed data generated by the compressed data generation unit 54 is compressed data obtained by compressing a plurality of positioning data (for example, 3-epoch positioning data) corresponding to a compression unit period (for example, 3 seconds), and carrier phase data As the carrier phase of each of the satellites, the sum of carrier phases for the same satellite ID in the positioning data in the compression unit period (for example, 3 seconds) is stored. Further, only the decimal part of the carrier phase is stored as the carrier phase of each satellite in the carrier phase data.

  In addition, since a plurality of positioning data corresponding to the compression unit period generally have a common satellite ID and SN ratio, the common satellite ID and SN ratio are stored in the compressed data. In addition, the representative time of each of the plurality of positioning data (for example, the reception time of the central data) is stored as the reception time of the compressed data. In addition, you may make it store the average time of each reception time of several data for positioning as reception time of compression data.

  One packet of positioning data and compressed data of this embodiment is 29 bytes. As described above, since the number of captured satellites can be calculated later by counting the satellite IDs, it can be deleted from the positioning data and the compressed data. Moreover, if the SN ratio is not used in the displacement analysis device 20, it is possible to delete the SN ratio from the positioning data and the compressed data. In addition, it is possible to increase the resolution by storing the data in 1 byte instead of 3 bits without deleting the SN ratio. For example, if the SN ratio takes a value of about 30 dB to 50 dB and does not fit in 3 bits, it is transmitted with a satellite ID of 1 byte and an SN ratio of 1 byte. In this case, the packet size is 38 bytes (excluding the number of captured satellites).

  A configuration of the wireless communication device 33 will be described. For example, as shown in FIG. 6, the wireless communication device 33 includes a communication interface (I / F) 60, a memory 61, and an antenna 62.

  The communication interface 60 is an interface circuit that transmits and receives data to and from the control unit 32. The communication interface 60 temporarily stores the positioning data and compressed data transmitted from the control unit 32 in the memory 61. When the positioning data or positioning data and compressed data are stored in the memory 61, the communication interface 60 establishes communication with the displacement analysis positioning device 20, and the positioning data stored in the memory 61, Alternatively, the positioning data and the compressed data are transmitted to the displacement analyzer 20. In addition, when the data transmission to the displacement analysis apparatus 20 is completed, the communication interface 60 transmits a control signal indicating that the data transmission is completed to the control unit 32. The memory 61 is a storage area in which data received by the communication interface 60 from the control unit 32 is temporarily stored. The antenna 62 is for wirelessly transmitting and receiving data that the communication interface 60 communicates with the displacement analysis device 20. Note that power is supplied to the wireless communication device 33 via the power control unit 35.

  A hardware configuration of the displacement analysis apparatus 20 will be described. The displacement analysis device 20 is an information processing device such as a personal computer, a PC server, or a workstation. For example, as shown in FIG. 7, the displacement analysis apparatus 20 includes a CPU 70, a memory 71, a storage device 72, a display interface (I / F) 73, an input interface (I / F) 74, and a communication interface (I / F). 75 and a recording medium reading device 76.

  The CPU 70 executes a program stored in the memory 71 to control the displacement analysis apparatus 20 and realize various functions in the displacement analysis apparatus 20. The memory 71 is, for example, a RAM (Random Access Memory) and is used as a temporary storage area for programs, data, and the like. The storage device 72 is a storage device such as a hard disk, and stores programs, various data, and the like. The display interface 73 is an interface device such as a video card for displaying an image on a display device 77 such as a display. The input interface 74 is an interface device such as USB (Universal Serial Bus) or PS / 2 (Personal System / 2) for inputting data from an input device 78 such as a keyboard or a mouse. The communication interface 75 is an interface device such as a network card for transmitting and receiving data to and from the receiving device 10 via the antenna 79. The recording medium reader 76 is an interface device such as a CD-ROM drive or a memory card interface for reading programs and various data stored in a recording medium 80 such as a CD-ROM or a memory card.

  A functional configuration of the displacement analyzer 20 will be described. For example, as shown in FIG. 8, the displacement analysis apparatus 20 includes a reception data acquisition unit 81, a reception data storage unit 82, a positioning data extraction unit 83, a first double difference calculation unit 84, and a first cycle slip correction unit 85. , Unknown point coordinate value calculation unit 86, second double difference calculation unit 87, second cycle slip correction unit 88, first relative position calculation unit 89, compressed data extraction unit 90, third double difference calculation unit 91, first A three-cycle slip correction unit 92 and a second relative position calculation unit 93 are included. The compressed data extraction unit 90 is an example of a reading unit, and the third double difference calculation unit 91 is an example of a double difference calculation unit. The third cycle slip correction unit 92 is an example of a cycle slip correction unit, and the second relative position calculation unit 93 is an example of a relative position calculation unit.

  The reception data acquisition unit 81 acquires positioning data, or positioning data and compressed data received from each receiving device 10 via the antenna 79.

  The received data storage unit 82 stores positioning data transmitted from each receiving device 10 or positioning data and compressed data for each receiving device 10. For example, positioning data or positioning data and compressed data are stored in the received data storage unit 82 in association with a receiving device ID that identifies the receiving device 10. The received data storage unit 82 is realized using the memory 71 or the storage device 72.

  The positioning data extraction unit 83 obtains the double difference in the distance between the approximate position of the GPS receiver and the satellite from the double difference in the carrier wave phase in the initial stage when the position observation of the receiving device 10 is started. Receiving device 10 serving as a reference point in positioning analysis based on a value corrected by subtraction (hereinafter referred to as a corrected value of a double difference in carrier phase), positioning data corresponding to a positioning target period, and a receiving device serving as an unknown point 10 and the positioning data corresponding to the positioning target period are read from the received data storage unit 82.

  The first double difference calculation unit 84 assumes that the coordinate value (approximate value) of the receiving device 10 serving as an unknown point is the coordinate value (predetermined value) of the receiving device 10 serving as a reference point, and the reference point and unknown Based on the positioning data in the point receiving device 10, a correction value of the double difference of the carrier phase is calculated. When the distance between the receiving devices 10 exceeds 100 m, a predetermined approximate value other than the coordinate value of the reference point may be set.

  The first cycle slip correction unit 85 corrects the cycle slip occurring in the correction value of the carrier phase double difference calculated by the first double difference calculation unit 84.

  The unknown point coordinate value calculation unit 86 calculates the coordinate value of the receiving device 10 that is an unknown point, based on the correction value of the double difference of the carrier phase whose cycle slip is corrected by the first cycle slip correction unit 85.

  The second double difference calculation unit 87 calculates the double difference of the carrier phase based on the calculated coordinate value of the receiving device 10 that is an unknown point and the positioning data in the receiving device 10 of the reference point and the unknown point. Recalculate the correction value.

  The second cycle slip correction unit 88 recorrects the cycle slip occurring in the correction value of the carrier phase double difference recalculated by the second double difference calculation unit 87.

  The first relative position calculation unit 89 receives an unknown point with respect to the receiving device 10 serving as a reference point based on the correction value of the double difference of the carrier phase in which the cycle slip is corrected again by the second cycle slip correction unit 88. The relative position of the device 10 is calculated.

  When the compressed data extraction unit 90 has passed the initial stage of starting the position observation of the receiving device 10 and has already measured the coordinate value of the receiving device 10, the compressed data extraction unit 90 refers to the positioning analysis using the correction value of the double difference of the carrier phase. The reception data storage unit 82 reads out the positioning data and compressed data corresponding to the receiving device 10 and the positioning target period as the points, and the positioning data and compressed data corresponding to the receiving device 10 and the positioning target period as the unknown points.

  The third double difference calculation unit 91 assumes that the coordinate value (approximate value) of the receiving device 10 that is an unknown point is the coordinate value (predetermined value) of the receiving device 10 that is the previously calculated unknown point, Based on the positioning data in the receiving device 10 at the reference point and the unknown point, a correction value for the double difference of the carrier phase is calculated. Further, the third double difference calculation unit 91 calculates a correction value for the double difference of the carrier phase based on the compressed data in the receiving device 10 at the reference point and the unknown point.

  The third cycle slip correction unit 92 uses the correction value of the carrier phase double difference based on the positioning data calculated by the third double difference calculation unit 91 to calculate the carrier phase calculated based on the compressed data. Correct the cycle slip occurring at the double difference correction value.

  The second relative position calculation unit 93 is a receiving device that is an unknown point with respect to the receiving device 10 that is a reference point, based on the correction value of the double difference of the carrier phase whose cycle slip is corrected by the third cycle slip correction unit 92 10 relative positions are calculated.

  Details of the operations of these functional blocks 83 to 93 in the displacement analyzer 20 will be described later. The functional blocks 83 to 93 are realized by the CPU 70 executing a program stored in the memory 71.

  Next, processing in the receiving device 10 will be described. When the observation start time set in advance is reached, the control unit 32 of each receiving device 10 turns on the power of the GPS receiver 31 and executes the transmission control processing routine shown in FIG.

  First, in step 100, the observation data acquisition unit 51 determines whether observation data has been acquired from the GPS receiver 31. When the GPS receiver 31 receives the radio wave (carrier wave) from the satellite via the patch antenna 30 and outputs the observation data to the control unit 32, the process proceeds to step 102.

  In step 102, the positioning data generation unit 52 extracts necessary data from the observation data acquired from the GPS receiver 31, generates the positioning data illustrated in FIG. 5, and generates the generated positioning data. Is stored in the positioning data storage unit 53.

  In the next step 104, the observation data acquisition unit 51 determines whether a preset observation period has elapsed from the observation start time. If the observation period has not elapsed, the process returns to step 100. On the other hand, if the observation period has elapsed, the process proceeds to step 106.

  In step 106, the power of the GPS receiver 31 is turned off. In step 108, it is determined whether or not it is an initial stage where the position observation of the receiving device 10 is started. When the position observation of the receiving device 10 is started, the coordinate value of the receiving device 10 is unknown (receiving device 10). If the approximate value of the coordinate value and the true value are far from each other), it is determined that the current stage is the initial stage, and the process proceeds to step 110.

  In step 110, the transmission control unit 55 outputs a control signal for turning on the power of the wireless communication device 33 to the power supply control unit 35 to turn on the power of the wireless communication device 33. In step 112, the transmission control unit 55 outputs the time-series positioning data stored in the positioning data storage unit 53 to the wireless communication device 33, and proceeds to step 122. As a result, the wireless communication device 33 stores the time-series positioning data output from the control unit 32 in the memory 61, and then establishes communication with the displacement analysis device 20 and is stored in the memory 61. The positioning data is transmitted to the displacement analyzer 20. Further, time-series positioning data is deleted from the memory 61.

  On the other hand, if the coordinate value of the receiving apparatus 10 has already been measured in step 108 and it is determined that the initial stage has passed, the process proceeds to step 114. In step 114, time-series positioning data stored in the positioning data storage unit 53 is read out, compressed data is generated for each of a plurality of positioning data in the compression unit period, and the positioning data storage unit 53 stores the compressed data. Store.

  In step 116, the transmission control unit 55 outputs a control signal for turning on the power of the wireless communication device 33 to the power supply control unit 35 to turn on the power of the wireless communication device 33. In step 118, the transmission control unit 55 determines the positioning data (for example, the first compression unit period) among the time-series positioning data obtained for each satellite stored in the positioning data storage unit 53. In the next step 120, the transmission control unit 55 outputs the time-series compressed data stored in the positioning data storage unit 53 to the wireless communication device 33. 33, and the process proceeds to step 122. As a result, the wireless communication device 33 stores the three positioning data output from the control unit 32 and the plurality of compressed data in the memory 61, and then establishes communication with the displacement analysis device 20. The positioning data and the compressed data stored in 61 are transmitted to the displacement analyzer 20. Further, the time series positioning data and the time series compressed data are deleted from the memory 61.

  In step 122, it is determined whether or not the wireless communication device 33 has completed data transmission to the displacement analysis device 20. When data transmission to the displacement analysis device 20 is completed by the wireless communication device 33 and a signal indicating transmission completion is output to the control unit 32, the transmission control unit 55 performs control to turn off the power of the wireless communication device 33 in step 124. A signal is output to the power supply control unit 35 and the power supply of the wireless communication device 33 is turned off.

  Thus, in the initial stage when the position observation of the receiving device 10 is started, the receiving device 10 extracts data necessary for the positioning analysis in the displacement analysis device 20 from the observation data, and generates positioning data. The generated positioning data is transmitted to the displacement analyzer 20. As illustrated in FIG. 5 above, the amount of data for positioning is greatly reduced compared to the observation data output from the GPS receiver 31. Therefore, the amount of data communication with the displacement analysis device 20 is reduced, and the power consumption during wireless communication can be reduced compared to the case where observation data is transmitted to the displacement analysis device 20 as it is.

  In addition, in the stage where the initial stage has passed, the receiving apparatus 10 extracts data necessary for positioning analysis in the displacement analysis apparatus 20 from the observation data to generate positioning data, and also generates compressed data, Positioning data for a compression unit period and time-series compressed data are transmitted to the displacement analyzer 20. The amount of time-series compressed data is greatly reduced as compared to time-series positioning data. For example, when one piece of compressed data is generated from three pieces of positioning data, the amount of data communication with the displacement analysis device 20 is reduced to almost ３, and the power consumption during wireless communication is reduced. be able to.

  In the receiving device 10, the wireless communication device 33 is powered off except when wireless communication is being performed. Thereby, the power consumption in the receiving apparatus 10 is further reduced. Note that the power supply of the wireless communication device 33 may be turned off by shifting the wireless communication device 33 to a standby state such as a sleep mode instead of completely cutting off the power supply to the wireless communication device 33. Good.

  Next, processing in the displacement analysis apparatus 20 will be described. The displacement analyzer 20 receives the positioning data or the positioning data and the compressed data transmitted from each receiving device 10, and the received data acquisition unit 81 receives the positioning data or the positioning data and the compressed data. Is stored in the received data storage unit 82 in association with the receiving device 10.

  When the displacement analysis device 20 is in the initial stage of starting the position observation of the receiving device 10, the initial stage calculation processing routine shown in FIG. 10 is performed for the set positioning target receiving device 10 pair and the positioning target period. Execute.

  In step 130, the positioning data extraction unit 83 obtains positioning data for the positioning target period with respect to the receiving device 10 serving as a reference point in interference positioning and the receiving device 10 serving as an unknown point (a pair of positioning target receiving devices 10). Read from the received data storage unit 82. In step 132, the first double difference calculating unit 84 sets the coordinate value (approximate value) of the receiving device 10 that is an unknown point to a predetermined value. In the present embodiment, the coordinate value of the reference point is set as the coordinate value (approximate value) of the receiving device 10 of the unknown point.

In step 134, the first double difference calculation unit 84 calculates a correction value of the double difference of the carrier phase for each satellite combination. Specifically, the first double difference calculator 84 calculates the double difference of the carrier phase, the coordinate value (approximate value) of the receiving device 10 and the distance between the satellites as shown in the following equation (1). U _ij ^kl (t), which is the time change of the difference from the double difference, is calculated for each satellite pair (i, j).

However, i and j indicate the two receiving devices 10, and k and l indicate the two satellites. Further, λ is the wavelength of the carrier wave, and φ _i ^k (t) is the carrier wave phase from the satellite k observed by the receiver i at time t (see FIG. 11). ρ _i ^k (t) is the distance between the coordinate value (approximate value) of the receiving device i and the satellite k at time t.

Here, modeling of U _ij ^kl (t) calculated by the above equation (1) will be described. First, the carrier phase φ _i ^k (t) is generally expressed by the following equation (2).

Where N _i ^k is an integer value bias in the carrier phase, and e _i ^k (t) is an error.

Further, the double difference φ _ij ^kl of the carrier phase is expressed by the following equation (3).

  From the above equations (2) and (3), the following equation (4) is obtained.

Here, N _ij ^kl indicates a double difference of integer value bias in the carrier phase, and is an unknown variable. Also, e _ij ^kl (t) is an error that could not be removed by calculating the double difference.

ρ _i ^k is expressed by the following equation (5), and coordinate values (x _i , y _i , z _i ) of the receiving device i are expressed as follows using approximate values (x ₀ , y ₀ , z ₀ ): (6).

  However, Δx, Δy, and Δz indicate perturbations between an accurate coordinate value and an approximate value of the receiving device 10 at an unknown point, and are unknown variables. That is, Δx = Δy = Δz = 0 when an accurate coordinate value of the receiving device 10 at an unknown point is known.

With regard to the above equation (4), when ρ _ij ^kl (t) is Taylor-expanded with respect to Δx, Δy, and Δz, the following equations (7) and (8) are obtained.

The variable U _ij ^kl (t) calculated by the above equation (1) can be ^replaced by the following equation (9) from the above equation (8).

Here, X _ij ^kl (t), Y _ij ^kl (t), and Z _ij ^kl (t) are coefficients that appear when the equation is linearized as in the above equation (8), and the position of the satellite This is a function that depends only on the approximate value of the coordinate value of the receiver 10 of the unknown point.

According to the above equation (9), when cycle slip does not occur, noise can be ignored, and the position of the receiving device 10 that is an unknown point is accurately known (Δx = Δy = Δz = 0), U _It can be seen that _ij ^kl (t) is equal to a certain integer value N _ij ^kl . If Δx, Δy, and Δz are not zero, X _ij ^kl (t), Y _ij ^kl (t), and Z _ij ^kl (t) can be approximated to a straight line in a short time, so U _ij ^kl (t) Can also be approximated to a straight line. In this case, it is clear from the equation (9) that the slope of the straight line depends only on the magnitudes of Δx, Δy, and Δz.

An example of calculating U _ij ^kl (t) using the positioning data transmitted from the receiving device 10 is shown by the solid line in FIG. In FIG. 12, the target time is 180 seconds, and the coordinate value (approximate value) of the receiving device 10 of the unknown point is a point separated by about 50 meters in the (x, y, z) direction from the accurate coordinate value. Is set to

The dotted line in FIG. 12 indicates U _ij ^kl (t) when there is no cycle slip. Comparing the solid line and the dotted line in FIG. 12, it can be seen that a cycle slip occurs at each epoch in the solid line. This is because the integer part of the carrier wave phase is deleted from the positioning data transmitted from the receiving device 10. Unless this cycle slip is corrected, the exact position of the receiver 10 at the unknown point cannot be estimated.

Therefore, in step 136, the first cycle slip correction unit 85 corrects the cycle slip of the correction value U _ij ^kl (t) of the double difference of the carrier phase as shown in FIG. The cycle slip of the correction value U _ij ^kl (t) of the double difference of the carrier phase calculated for each satellite pair (i, j) is corrected. Specifically, for each satellite pair (i, j), the difference U _ij ^kl (t) −U _ij ^kl (t−Δt) of two carrier phase differences adjacent in time series is the smallest. U _ij ^kl (t) is corrected by an integer value so that U _ij ^kl (t) in which the cycle slip is corrected in this way is shown in FIG. As can be seen from FIG. 13, the solid line almost coincides with the dotted line up to around 60 seconds, and the cycle slip is appropriately corrected. However, the cycle slip is not properly corrected at the data missing portion around 60 seconds. This is because the difference between the coordinate value (approximate value) of the receiver 10 of the unknown point and the accurate coordinate value is large, and the slope of the straight line is large.

Next, in step 138, the unknown point coordinate value calculation unit 86 calculates the coordinate value of the unknown point receiving device 10 based on the correction value of the double difference of the carrier phase whose cycle slip is corrected. Specifically, the correction value U _ij ^kl (t) of the double difference of the carrier phase in which the cycle slip is corrected, indicated by the solid line in FIG. 13, is substituted for each satellite pair (i, j), (Δx, Δy, Δz) is calculated by solving the simultaneous equations (9). The unknown point coordinate value calculation unit 86 receives the unknown point based on the calculated (Δx, Δy, Δz) and the coordinate value (approximate value) of the unknown point receiving device 10 set in step 132. The coordinate value of the device 10 is calculated.

  As a result of analysis using the example shown in FIG. 13, (Δx, Δy, Δz) = (− 45.7, −46.0, −48.9) was calculated. As described above, at first, the coordinate value (approximate value) of the receiver 10 of the unknown point is set to a point that is about 50 meters away from the accurate coordinate value in the (x, y, z) direction. The slope was large and the cycle slip was not completely corrected. Looking at the calculated (Δx, Δy, Δz), it can be seen that even in that case, the coordinate value of the receiving apparatus 10 can be estimated with an accuracy of several meters.

Subsequently, in step 140, the second double difference calculation unit 87 sets the coordinate value of the unknown point receiver 10 calculated by the unknown point coordinate value calculation unit 86 as an approximate value, and sets the satellite pair ( For each combination of i, j), the correction value U _ij ^kl (t) of the double difference of the carrier phase is recalculated. In step 142, the second cycle slip correction unit 88 ^recorrects the cycle slip in the recalculated correction value U _ij ^kl (t) of the double phase difference of the carrier phase.

Here, the cycle slip recorrection processing will be described in detail. First, as shown in the following equation (10), the correction value U _ij ^kl (t) of the double difference of the carrier phase is divided by the wavelength λ of the carrier to obtain a time series N _ij ^kl (t )

As can be seen from the above equation (10), when the exact coordinate value of the receiver 10 at the unknown point is known and no cycle slip has occurred, N _ij ^kl (t) is constant regardless of time. The integer value of On the other hand, if the exact coordinate value of the unknown point receiving device 10 is not known, N _ij ^kl (t) is a function that changes with time.

Errors included in N _ij ^kl (t) obtained by the above equation (10) include tropospheric delay, ionospheric delay, satellite clock error, satellite position error, clock error of the receiver 10 (GPS receiver 31), There are errors due to multipath and electrical white noise. Among these, when the receiving apparatuses 10 are close to each other, errors due to multipath and errors other than electrical white noise are almost completely eliminated by calculating the double difference. Further, in general GPS receivers used, the accuracy of carrier phase measurement is high, and the influence of electrical white noise is often negligible. For example, in the GPS receiver 31 used in this embodiment, the measurement accuracy of the carrier phase is about 2 millimeters, and the error due to electrical white noise is about 2.0 / λ to 0.01, which can be ignored. . Further, it is known that the error due to multipath does not exceed 1/4 at the maximum because of the mechanism. Thus, even if a cycle slip occurs, if the value of N _ij ^kl (t) can be estimated with an error of ¼ or less, N _ij ^kl (t The cycle slip can be corrected by correcting the value of) by an integer value.

Here, a Kalman filter is used to estimate the value of N _ij ^kl (t). Since N _ij ^kl (t) can be regarded as a substantially straight line in a sufficiently short time, N _ij ^kl (t + Δt) can be modeled as the following equation (11).

  In the above equation (11), a and b are values that gradually change with time, and can be regarded as constant values in a short time. As a result, the following equation (12) can be obtained.

Here, y _k , H, and x _k are _represented by the following equation (13). Further, x _k can be estimated from past data by using a normal Kalman filter.

Assume that there is data up to time t. At this time, the second cycle slip correction unit 88 estimates x _k−1 from the observed data. Subsequently, the second cycle slip correction unit 88 calculates a predicted value N ′ _ij ^kl (t + Δt) of N _ij ^kl (t + Δt) using x _k−1 . The second cycle slip correction unit 88 then determines that the difference between N _ij ^kl (t + Δt) calculated based on the equation (10) and the predicted value N ′ _ij ^kl (t + Δt) is 0.5 or more. Determines that a cycle slip has occurred, and corrects N _ij ^kl (t + Δt) by an integer value so that the difference from N ′ _ij ^kl (t + Δt) is minimized. As a result of correcting N _ij ^kl (t + Δt) in this way, the correction value U _ij ^kl (t) of the double difference of the carrier phase is as shown in FIG. As can be seen from FIG. 14, the slope of the straight line is small, and the cycle slip is appropriately corrected.

  In step 144, the first relative position calculation unit 89 receives the unknown point based on the correction value of the double difference of the carrier phase in which the cycle slip is corrected again, as in the unknown point coordinate value calculation unit 86. The coordinate value of the device 10 is calculated.

  In the next step 146, the unknown point is received by the receiving device 10 serving as the reference point based on the coordinate value of the receiving device 10 of the unknown point calculated in step 144 and the coordinate value of the receiving device 10 of the reference point. The coordinate value (relative position) of the device 10 is calculated and stored in the memory 71.

  As described above, when the displacement analysis apparatus 20 is in the initial stage where the position observation of the reception apparatus 10 is started, each combination of the pair of the reception apparatuses 10 is set as a positioning target, and the above initial stage calculation processing routine is performed. To calculate the relative position of the pair of receiving devices 10.

  Next, the principle of the present invention will be described.

  A standard method in GPS static positioning analysis calculates a correction value for a double difference in carrier phase in order to reduce noise. When the relative position between the observation points is almost known, it is known that the correction value of the double difference of the carrier phase is a straight line having a very small inclination with respect to time. By utilizing this property, the cycle slip can be corrected. Since the present invention is intended for a quasi-static displacement, this property can be utilized. For example, the correction value of the double difference of the carrier phase in which the cycle slip is corrected is expressed in a state in which the observation noise is put on a straight line having a small slope with the value near zero. In this way, the correction value of the double difference of the carrier phase in which the cycle slip is corrected can be approximated to a straight line, and the only meaningful information is the slope and intercept of the straight line. It can be seen that it can be reduced.

  In the present embodiment, when the initial stage where the position observation of the receiving apparatus 10 is started is passed, the cycle slip is corrected and the position of the receiving apparatus 10 is calculated using the compressed data.

  Even when this calculation method using compressed data is applied, the carrier phase data in the compressed data only calculates the sum of three temporally continuous carrier phases. The time-series data of the correction value can be used as it is, with the property that the slope is a straight line. However, the value of the intercept of the straight line is indeterminate.

For example, if the correction value of the double difference of the carrier phase is calculated using the carrier phase represented by the compressed data, and the correction value of the double difference of the carrier phase is 0.2, in the present embodiment, After adding three consecutive data, only the part corresponding to the decimal point is left as data, so the original data of 0.2 is either a) or b) below, but it is unknown It becomes.
a) 0.066 + 0.066 + 0.066 = 0.2 (original data is around 0.066)
b) 0.4 + 0.4 + 0.4 = 1.2 → 0.2 (original data is around 0.4)

  Therefore, for example, if the cycle slip is corrected for two positioning target periods shifted by 3 seconds, as shown in FIG. 15A, the cycle slip is corrected correctly as shown in FIG. 15B. As shown, there is a case where the value is shifted by 1 as a whole, and the cycle slip is not corrected correctly.

  Therefore, in the present embodiment, as described later, the third cycle slip correction unit 92 is based on the correction value of the double difference of the carrier phase calculated based on the compressed data and the positioning data before compression. By using the calculated correction value of the double difference of the carrier phase and distinguishing between 0.2 and 1.2, the cycle slip is corrected correctly, and the carrier wave based on the positioning data that is not compressed. The same result as that obtained when the cycle slip is corrected with respect to the correction value of the phase double difference is obtained.

  Hereinafter, the process of the displacement analysis device 20 when the position of the reception device 10 has been measured after the initial stage will be described.

  When the initial stage of starting the position observation of the receiving device 10 has passed, the displacement analysis device 20 executes the relative position calculation processing routine shown in FIG. 16 for the set positioning target receiving device 10 pair and the positioning target period. To do.

  First, in step 150, the compressed data extraction unit 90 performs the first predetermined positioning target period for the receiving device 10 serving as a reference point in interference positioning and the receiving device 10 serving as an unknown point (a pair of receiving devices 10 serving as positioning targets). The positioning data of the epoch (for example, 3 epochs) is read from the received data storage unit 82, and the time-series compressed data of the positioning target period of the pair of positioning target receiving devices 10 is read from the received data storage unit 82.

  In step 152, the third double difference calculation unit 91 sets the coordinate value (approximate value) of the receiving device 10 as an unknown point to the previously calculated position calculated in the previous step 144 or step 162 described later. To do. Note that if the position is displaced by, for example, 5 cm or more from the previous calculation position, a position close to some true position is set.

  In the next step 154, based on the positioning data read out in step 150 by the third double difference calculation unit 91, as in the first double difference calculation unit 84, for each combination of satellite pairs, the carrier wave Calculate the correction value of the phase double difference. Then, in step 156, the third double difference calculation unit 91 calculates the carrier phase for each combination of satellite pairs based on the compressed data read in step 150, as in the first double difference calculation unit 84. Calculate the double difference correction value.

In the next step 158, the third cycle slip correction unit 92 corrects the cycle slip of the correction value of the double difference of the carrier phase phase calculated in step 154, similarly to the first cycle slip correction unit 85. Only the integer value of the correction value U _ij ^kl (t) of the double difference of the carrier phase is corrected. For example, if U (t ₁ ) = − 3.208, U (t ₂ ) = − 4.168, U (t ₃ ) = − 4.212, U (t ₁ ) = − 0.208, U (T ₂ ) = − 0.168, U (t ₃ ) = − 0.212 In this case, the integer values are corrected by +3, +4, and +4, respectively.

In step 160, the third cycle slip correction unit 92 calculates the second carrier phase phase calculated in step 156 based on the compressed data temporally corresponding to the 3-epoch positioning data read in step 150. Correct the cycle slip of the correction value of the heavy difference. A correction value of the double difference of the carrier phase calculated using the positioning data for three epochs, and after correcting the cycle slip, a value obtained by calculating the sum of the three epochs and the carrier phase by the compressed data. The cycle slip is corrected so that the correction value of the overlap difference is equal. For example, when the correction value U (t ₂ ) of the double difference of the carrier phase calculated from the compressed data corresponding to the positioning data of three consecutive epochs is −11.588, the correction amount in the above step 158 is Since it is +11, the integer value is corrected by +11. As a result, the correction value U _ij ^kl (t ₂ ) of the double difference of the carrier phase based on the compressed data is corrected to −0.588.

The third cycle slip correction unit 92 is adjacent to the modified value U _ij ^kl double difference carrier phase integer value is modified (t _2), correction values of the double difference carrier phase U _ij ^kl ( In order from t), it is calculated in step 156 so that the difference U _ij ^kl (t) −U _ij ^kl (t−Δt) of two carrier phase differences adjacent in time series is minimized. Only the integer value of U _ij ^kl (t) is corrected.

Next, in step 162, the second relative position calculation unit 93 calculates the coordinate value of the receiving device 10 at the unknown point based on the correction value of the double difference of the carrier phase in which the cycle slip is corrected. Specifically, the correction value U _ij ^kl (t) of the double difference of the carrier phase based on the compressed data in which the cycle slip is corrected is substituted for each combination of the satellite pair (i, j) (9 (Δx, Δy, Δz) is calculated by solving simultaneous equations of the same equation as (). Based on the calculated (Δx, Δy, Δz) and the coordinate value (approximate value) of the unknown point receiving device 10 set in step 152, the coordinate value of the unknown point receiving device 10 is calculated. In the above simultaneous equations, an expression similar to the above expression (9) may be used so as to be an expression suitable for the sum of correction values of the double difference of the carrier phase.

  In the next step 164, based on the coordinate value of the receiving device 10 of the unknown point calculated in step 144 and the coordinate value of the receiving device 10 of the reference point, reception of the unknown point to the receiving device 10 serving as the reference point. The coordinate value (relative position) of the device 10 is calculated and stored in the memory 71.

  As described above, the displacement analysis device 20 executes the relative position calculation processing routine described above for each combination of the pair of the reception devices 10 when the initial stage where the position observation of the reception device 10 is started is passed. Calculate the position. In addition, the relative position calculation processing routine is executed for various positioning target periods, and the relative positions are calculated.

  Further, in the displacement analysis device 20, the displacement of the place where the receiving device 10 is installed is determined by comparing the relative position calculated at a certain time stored in the memory 71 with the relative position calculated at another time. Desired.

  As described above, the displacement measurement system according to the first embodiment includes the reception time extracted from the GPS receiver observation data in the positioning target period, the satellite ID, and the decimal part of the carrier wave phase. The configured positioning data is generated, and compressed data including a decimal part of the sum of the carrier phase is generated for each positioning data for the compression unit period. By transmitting a plurality of compressed data for the positioning target period and positioning data for the first compression unit period of the positioning target period to the displacement analyzing apparatus, the amount of communication data between the plurality of receiving apparatuses and the displacement analyzing apparatus is reduced. Can be reduced. This reduction in the amount of communication data reduces power consumption during data communication in the receiving device.

  In addition, the cycle slip in the correction value of the double difference of the carrier phase calculated based on the compressed data using the correction value of the double difference of the carrier phase calculated based on the positioning data received from the receiving device. By appropriately correcting, the relative position of the GPS receiver can be accurately calculated even when the amount of communication data is reduced.

    In addition, in the receiving device, when the time-series positioning data for the positioning target period is generated, the wireless communication device is turned on to transmit the positioning data, and after the positioning data transmission is completed, the wireless communication device is turned on. Disconnected. This shortens the time during which the wireless communication apparatus is powered on, further reducing power consumption in the receiving apparatus.

Further, in the initial stage of starting the position observation of the receiving apparatus, the displacement analyzing apparatus sets the coordinate value (approximate value) of the unknown point receiving apparatus to a predetermined value (coordinate value of the reference point) and sets the second carrier phase. The correction value U _ij ^kl (t) of the heavy difference is calculated, and after correcting the cycle slip of the calculated U _ij ^kl (t), the coordinate value of the receiver 10 of the unknown point is calculated. Then, U _ij ^kl (t) is recalculated based on the calculated coordinate value of the unknown point receiver 10, and then the cycle slip of U _ij ^kl (t) is ^recorrected . As a result, it is possible to accurately obtain the relative position between the receiving devices based on the positioning data that does not include the rough coordinate values of the receiving devices and the integer part of the carrier phase. That is, it is possible to reduce the amount of communication data between the receiving device and the displacement analyzing device.

In the above embodiment, in the second cycle slip correction process (step 142) in the initial stage calculation process routine in the initial stage, N _ij ^kl (t) is linearly approximated as shown in the above equation (10). However, the present invention is not limited to this, and the second cycle slip correction process (step 142) is replaced with the first cycle slip correction process (step 136). The same method may be used. However, in the case where the integer value bias is shifted by about 1/2 instead of the integer value due to a poor radio wave condition, or when the time of data loss is long, the first cycle slip correction process (step 136) is performed. There is a possibility that the value is shifted by the method. Therefore, in such a case, the cycle slip can be appropriately corrected by correcting the cycle slip based on the approximate straight line as described above.

  Next, a second embodiment will be described. In addition, about the part which becomes the structure similar to 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  In the second embodiment, each of the double differences in the transmission phase based on the compressed data is set to zero when the position of the receiving apparatus changes slowly and the measured coordinate position is very close to the true position. The point that the cycle slip is corrected by correcting only the integer value so as to be closest is mainly different from that of the first embodiment.

  The displacement analysis apparatus 20 according to the second embodiment further includes a second compressed data extraction unit, a fourth double difference calculation unit, a fourth cycle slip correction unit, and a third relative position calculation unit.

  The second compressed data extraction unit has passed the initial stage in which the position observation of the receiving device 10 is started and has already been measured, and the position of the receiving device 10 is slowly changed and measured. In the stable stage where the coordinate value of the receiving device 10 is very close to the true value, the compressed data corresponding to the receiving device 10 and the positioning target period serving as the reference point in the interference positioning, the receiving device 10 serving as the unknown point and the positioning target period The compressed data corresponding to is read from the received data storage unit 82.

  The fourth double difference calculation unit assumes that the coordinate value (approximate value) of the receiving device 10 that is an unknown point is the coordinate value (predetermined value) of the receiving device 10 that is the previously calculated unknown point. Based on the compressed data in the receiving device 10 at the reference point and the unknown point extracted by the compressed data extraction unit, the correction value of the double difference of the carrier phase is calculated.

  The fourth cycle slip correction unit corrects the cycle slip occurring in the correction value of the double difference of the carrier phase calculated based on the compressed data calculated by the fourth double difference calculation unit.

  The third relative position calculation unit is configured to determine whether the reception device 10 serving as an unknown point with respect to the reception device 10 serving as a reference point is based on the correction value of the double difference in the carrier phase whose cycle slip is corrected by the fourth cycle slip correction unit. The relative position is calculated.

  In the initial stage when the position observation of the receiving device 10 is started, the displacement analysis apparatus 20 executes an initial stage calculation processing routine as described in the first embodiment.

  After the initial stage where the position observation of the receiving device 10 is started, when the position of the receiving device 10 has already been measured, the displacement analyzing device 20 uses the relative position as described in the first embodiment. A calculation processing routine is executed.

  Further, when the position of the receiving device 10 is slowly changing (for example, about 1 mm per day), the previous calculated value of the coordinate position of the receiving device 10 is very close to the true position. In this stable stage, the displacement analysis apparatus 20 executes a second relative position calculation processing routine described below.

  First, the second compressed data extraction unit performs positioning with respect to the receiving device 10 serving as a reference point and the receiving device 10 serving as an unknown point (a pair of receiving devices 10 to be positioned) as positioning points in the positioning analysis based on the correction value of the double difference in the carrier phase. The compressed data for the target period is read from the received data storage unit 82.

  And the coordinate value (approximate value) of the receiver 10 used as an unknown point is set to the previously calculated position calculated last time by the fourth double difference calculation unit. Next, the correction value of the double difference of the carrier phase for each combination of the satellite pairs based on the compressed data read out by the fourth double difference calculation unit, as in the first double difference calculation unit 84. Is calculated.

Then, the fourth cycle slip correction unit corrects the double phase difference difference U _ij ^kl (t of the carrier phase so that each of the double phase correction values calculated above is closest to zero. Only the integer value of).

  Next, the third relative position calculation unit calculates the coordinate value of the receiving device 10 of the unknown point based on the correction value of the double difference of the carrier phase whose cycle slip is corrected. Then, based on the calculated coordinate value of the unknown point receiving device 10 and the coordinate value of the reference point receiving device 10, the coordinate value of the unknown point receiving device 10 relative to the receiving device 10 serving as the reference point (relative). Position) is calculated and stored in the memory 71.

  As described above, the displacement analysis device 20 calculates the relative position by executing the second relative position calculation processing routine for each combination of the pair of the reception devices 10 in the stable stage.

  In addition, about the other structure and effect | action of the displacement measuring system which concern on 2nd Embodiment, since it is the same as that of 1st Embodiment, description is abbreviate | omitted.

  As described above, according to the positioning system of the second embodiment, the carrier phase calculated based on the compressed data received from the receiving device when the displacement of the receiving device is very slow. Correct the cycle slip in the double phase difference correction value by correcting only the integer value so that each of the correction values of the multiple difference is closest to zero and correcting the cycle slip. Can do. For this reason, even if the amount of communication data in GPS positioning is reduced, the relative position of the GPS receiver can be accurately calculated.

  The cycle slip correction method according to the second embodiment is used when the relative position between GPS receivers is known accurately and the noise included in the correction value of the double difference in the carrier phase is sufficiently small. Is possible. In addition, as a method of reducing the noise included in the correction value of the double difference of the carrier phase, there is a method of suppressing noise by using a high-performance antenna or receiver or using some method in software. Moreover, ground subsidence etc. can be considered as a measurement object.

  Next, a third embodiment will be described. In addition, about the part which becomes the structure similar to 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  In the third embodiment, the displacement analysis device transmits a data transmission command wirelessly, and the reception device transmits positioning data and compressed data according to the received data transmission command. Is different from the first embodiment.

  The receiving device 10 according to the third embodiment stores the generated positioning data and compressed data in the positioning data storage unit 53.

  The displacement analysis device 20 broadcasts a data transmission command “transmit the x-th sensor node (receiving device 10) and y-th data (positioning data or compressed data)” wirelessly.

  When the wireless communication device 33 receives the data transmission command when the wireless communication device 33 is turned on, the reception device 10 outputs the data transmission command to the control unit 32. The control unit 32 reads the corresponding positioning data or compressed data from the positioning data storage unit 53 according to the instruction of the data transmission command, and transmits the data to the wireless communication device 33. The wireless communication device 33 wirelessly transmits the read positioning data or compressed data to the displacement analysis device 20.

  The receiving device 10 waits for a few seconds for the next data transmission command to be transmitted, and continues to transmit data as long as a further data transmission command is transmitted. If the transmission command is not received, the wireless communication device 33 is turned off.

  In addition, about the other structure and effect | action of a positioning system which concern on 3rd Embodiment, since it is the same as that of 1st Embodiment, description is abbreviate | omitted.

  As described above, the control unit 32 of the receiving apparatus 10 can transmit the positioning data and the compressed data one packet at a time in accordance with the instruction from the displacement analysis apparatus 20.

  In the first to third embodiments, the case where continuous positioning data is transmitted for the compression unit period together with the compressed data in the stage after the initial stage has been described as an example. However, the present invention is not limited to this, and at least one positioning data may be transmitted together with the compressed data. In this case, the cycle slip in the correction value of the double difference of the carrier phase based on the transmitted at least one positioning data is corrected, and the transmission is performed based on the correction value of the corrected double difference of the carrier phase. The cycle slip may be corrected with respect to the correction value of the double difference of the carrier phase based on the compressed data corresponding to at least one positioning data.

  Further, as an example of the case where compressed data is generated for each positioning data of 3 epochs as positioning data for the compression unit period, the present invention is not limited to this, but for the positioning for the compression unit period. The compressed data may be generated for each predetermined number of epoch positioning data as a predetermined number of positioning data of two or more epochs.

  In addition, the case where the first three epoch positioning data obtained for each satellite in the positioning target period is transmitted together with the compressed data of the positioning target period has been described as an example, but the present invention is not limited to this. What is necessary is just to transmit the data for positioning of the specific time obtained about each satellite in a positioning object period with the compression data of a period. For example, the last three epoch positioning data obtained for each satellite in the positioning target period may be transmitted. Moreover, you may make it transmit the data for positioning of the arbitrary time obtained about each satellite in a positioning object period. In this case, it is also necessary to transmit data indicating the timing data for positioning at the same time.

  In addition, in the stage after the initial stage where the position observation of the receiving apparatus is started, the correction value of the double difference of the carrier phase is calculated as an example using the previous measurement value as an approximate value. The initial position measured first by the initial stage calculation processing routine may be used as an approximate value. In this case, the obtained Δx, Δy, and Δz represent the displacement amount itself.

  In addition, the case where the position observation of the receiving apparatus is started is described as an example, but the present invention is not limited to this. For example, the position of the receiving apparatus changes greatly due to an earthquake or the like. Even when the position of the receiving device becomes unknown, the initial stage calculation processing routine described above may be executed in the displacement analysis apparatus as the initial stage. This makes it possible to accurately measure the displacement of the place where the receiving device 10 is installed immediately after the occurrence of an earthquake.

  In addition, the case where communication is performed between the reception device and the displacement analysis device has been described as an example, but the present invention is not limited to this, and communication is also performed between the reception device and the reception device, such as multi-hop communication. May be performed. For example, if the positioning data and compressed data cannot be transmitted directly from the receiving device to the displacement analysis device, the positioning data and compressed data are transmitted to a nearby receiving device, and the positioning data and compressed data are received between the receiving devices. Data may be transferred.

  Further, in the receiving apparatus, the GPS receiver and the control unit may be configured to communicate bidirectionally. In addition, a controller dedicated to the GPS receiver (using a microcontroller) and a controller dedicated to the wireless communication device may be provided so that work is allocated between the two controllers. In this case, the two control units may share data by sharing one memory.

  Further, the displacement analysis apparatus will be described by taking as an example a case where, in the initial stage, a series of processes including calculation of a correction value of a double difference in carrier phase, correction of cycle slip, and calculation of a coordinate value of an unknown point is repeated twice. However, it is not limited to this, and may be repeated twice or more depending on the situation.

  In addition, the case where the wireless communication device is not used while observing GPS data by the GPS receiver has been described as an example, but the present invention is not limited to this, and continuously while observing GPS data. The data may be transmitted to the displacement analysis device. For example, when the observation start time comes, turn on the power of the GPS receiver and the wireless communication device, and continuously transmit the positioning data and compressed data to the displacement analyzer while receiving the observation data. do it. After the predetermined observation period ends, the power of each of the GPS receiver and the wireless communication device may be turned off.

  Moreover, although the case where the wireless communication apparatus outputs a signal indicating completion of transmission has been described as an example, the present invention is not limited to this, and the wireless communication apparatus may not output a signal indicating completion of transmission. In this case, the control unit may inquire of the wireless communication device whether or not the data transmission is completed.

  Further, in the present embodiment, an example in which a GPS satellite is used as the satellite positioning system has been described, but the present invention is applied to a GNSS (Global Navigation Satellite System) satellite positioning system that includes GPS as the satellite positioning system. In the embodiment of the present invention, the description of GPS can be read as GNSS.

DESCRIPTION OF SYMBOLS 10 Receiver 20 Displacement analyzer 30 Patch antenna 31 GPS receiver 32 Control part 33 Wireless communication apparatus 34 Power supply 35 Power supply control part 51 Observation data acquisition part 52 Positioning data generation part 53 Positioning data storage part 54 Compression data generation part 55 Transmission control unit 71 Memory 72 Storage device 81 Received data acquisition unit 82 Received data storage unit 83 Positioning data extraction unit 84 First double difference calculation unit 85 First cycle slip correction unit 86 Unknown point coordinate value calculation unit 87 Second second Weight difference calculation unit 88 Second cycle slip correction unit 89 First relative position calculation unit 90 Compressed data extraction unit 91 Third double difference calculation unit 92 Third cycle slip correction unit 93 Second relative position calculation unit

Claims (10)

The reception time of the carrier wave from the satellite, the satellite ID for identifying the satellite, and the decimal part of the carrier wave phase, which are included in the observation data output from the GPS receiver, are extracted, and the extracted reception time, the satellite Positioning data generating means for generating positioning data including an ID and a decimal part of the carrier phase; and
For a plurality of consecutive positioning data, for each predetermined number of positioning data, the reception time based on the reception time included in each positioning data, the satellite ID, and the same satellite ID included in each positioning data Compressed data generating means for generating compressed data each including a decimal part of the sum of carrier phases or an average fraction of the carrier phase for the same satellite ID;
A data generation device including: A plurality of compressed data generated by the compressed data generating means and at least one positioning data generated by the positioning data generating means, the reception time, the satellite ID, and a decimal number of the carrier phase A data transmission means for transmitting via a wireless communication device to a displacement analysis device capable of calculating a relative positional relationship between the plurality of GPS receivers based on a unit;
A data storage means for storing the positioning data generated by the positioning data generation means and the plurality of compressed data generated by the compressed data generation means;
The data transmission means turns on the power of the wireless communication apparatus, and stores the plurality of compressed data and at least one positioning data stored in the positioning data storage means to the wireless communication apparatus. To the displacement analyzer via
The data generation device according to claim 1, wherein the wireless communication device is powered off when transmission of the plurality of compressed data and the positioning data by the wireless communication device is completed. A plurality of compressed data generated by the compressed data generating means and at least one positioning data generated by the positioning data generating means, the reception time, the satellite ID, and a decimal number of the carrier phase A data transmission means for transmitting via a wireless communication device to a displacement analysis device capable of calculating a relative positional relationship between the plurality of GPS receivers based on a unit;
A data storage means for storing the positioning data generated by the positioning data generation means and the plurality of compressed data generated by the compressed data generation means;
The data transmission means restores the wireless communication apparatus from a power saving state and transmits the plurality of compressed data and at least one positioning data stored in the positioning data storage means to the wireless communication. Transmitted to the displacement analyzer via the device,
The data generation device according to claim 1, wherein when the transmission of the plurality of compressed data and the positioning data by the wireless communication device is completed, the wireless communication device is shifted to a power saving state. A GPS receiver that receives a carrier wave from a satellite via an antenna and outputs observation data;
A wireless communication device;
The reception time of the carrier wave from the satellite, the satellite ID for identifying the satellite, and the fractional part of the carrier wave phase, which are included in the observation data output from the GPS receiver, are extracted, and the extracted reception Positioning data generating means for generating positioning data including a time, a satellite ID, and a decimal part of the carrier phase;
For a plurality of consecutive positioning data, for each predetermined predetermined number of positioning data, the reception time based on the reception time included in each positioning data, the satellite ID, and the carrier wave for the same satellite ID included in each positioning data Compressed data generation means for generating compressed data each including a decimal part of the sum of phases or an average fraction of the carrier phase for the same satellite ID;
A plurality of compressed data generated by the compressed data generating means and at least one positioning data generated by the positioning data generating means, the reception time, the satellite ID, and a decimal number of the carrier phase A data transmitting means for transmitting via the wireless communication device to a displacement analyzing device capable of calculating a relative positional relationship between the plurality of GPS receivers based on a unit;
Including a receiving device. A data storage means for storing the positioning data generated by the positioning data generation means and a plurality of compressed data generated by the compressed data generation means;
The data transmission means turns on the power of the wireless communication apparatus and transmits the plurality of compressed data and at least one positioning data stored in the data storage means via the wireless communication apparatus. Sent to the displacement analyzer,
The receiving device according to claim 4, wherein the wireless communication device is turned off when transmission of the plurality of compressed data and the positioning data by the wireless communication device is completed. A data storage means for storing the positioning data generated by the positioning data generation means and a plurality of compressed data generated by the compressed data generation means;
The data transmission means returns the wireless communication apparatus from a power saving state, and stores the plurality of compressed data and at least one positioning data stored in the data storage means to the wireless communication apparatus. To the displacement analyzer via
The receiving apparatus according to claim 4, wherein when the transmission of the plurality of compressed data and the positioning data by the wireless communication apparatus is completed, the wireless communication apparatus is shifted to the power saving state. Computer
The reception time of the carrier wave from the satellite, the satellite ID for identifying the satellite, and the decimal part of the carrier wave phase, which are included in the observation data output from the GPS receiver, are extracted, and the extracted reception time, the satellite Positioning data generating means for generating positioning data including an ID and a decimal part of the carrier phase;
Positioning data storage control means for storing the generated positioning data in a memory;
For a plurality of consecutive positioning data, for each predetermined predetermined number of positioning data, the reception time based on the reception time included in each positioning data, the satellite ID, and the carrier wave for the same satellite ID included in each positioning data Compressed data generating means for generating compressed data each including a fractional part of the sum of phases or an average fractional part of the carrier phase for the same satellite ID;
Compressed data storage control means for storing the plurality of generated compressed data in a memory; and the plurality of compressed data and at least one positioning data stored in the memory, the reception time, the satellite A program for causing a displacement analysis device capable of calculating a relative positional relationship between a plurality of GPS receivers based on an ID and a decimal part of the carrier wave phase to function as a data transmission means for transmitting via a wireless communication device. Computer
Positioning data extracted from observation data output from a GPS receiver, including a reception time of a carrier wave from a satellite, a satellite ID for identifying the satellite, and a decimal part of a carrier wave phase, and continuous With respect to a plurality of positioning data, the received time based on the receiving time included in each positioning data, obtained for each successive predetermined number of positioning data, the satellite ID, and the same satellite ID included in each positioning data A plurality of compressed data configured to include a decimal part of the sum of the carrier phases or an average fraction of the carrier phase for the same satellite ID is referred to in interference positioning from a memory stored for each GPS receiver. The GPS receiver serving as a point, at least one positioning data and a plurality of compressed data corresponding to the positioning target period, and the GP serving as an unknown point At least one of the positioning data and a plurality of said reading means for reading compressed data corresponding to the receiver and the positioning period,
Based on a plurality of compressed data in the GPS receiver at the reference point and the unknown point, the GPS reception is performed using the GPS receiver coordinate value of the GPS receiver serving as the unknown point as a predetermined value. A correction value corrected by a double difference in the distance between the approximate position of the aircraft and the satellite, and based on the positioning data in the GPS receiver at the reference point and the unknown point, A double difference calculating means for calculating a correction value of the double difference of the phase;
Using the correction value of the double difference of the carrier phase calculated based on the positioning data, the cycle slip in each of the correction value of the double difference of the carrier phase calculated based on the compressed data A cycle slip correcting means for correcting, and a relative value of the GPS receiver serving as the unknown point with respect to the GPS receiver serving as the reference point based on a correction value of a double difference of the carrier phase in which the cycle slip is corrected. A program for functioning as a relative position calculation means for calculating a position. A plurality of receiving devices that receive a carrier wave from a satellite via an antenna and wirelessly transmit positioning data and compressed data, and based on the positioning data and compressed data transmitted from the plurality of receiving devices A displacement measurement system including a displacement analysis device for analyzing displacement,
The receiving device is:
A GPS receiver that receives the carrier wave and outputs observation data;
A wireless communication device;
Extracting the reception time of the carrier wave from the satellite, the satellite ID for identifying the satellite, and the fractional part of the carrier wave phase included in the observation data output from the GPS receiver, the extracted reception time, Positioning data generating means for generating the positioning data including the satellite ID and the decimal part of the carrier phase;
For a plurality of consecutive positioning data, for each predetermined number of positioning data, the reception time based on the reception time included in each positioning data, the satellite ID, and the carrier wave for the same satellite ID included in each positioning data Compressed data generating means for generating each of the compressed data including a decimal part of the sum of phases or an average fraction of the carrier phase for the same satellite ID;
A plurality of compressed data generated by the compressed data generating means and at least one positioning data generated by the positioning data generating means are transmitted to the displacement analysis device via the wireless communication device. Including positioning data transmission means
Displacement measurement system characterized by this. The displacement analyzer is
A memory in which the positioning data and the compressed data received from the plurality of receiving devices are stored for each GPS receiver;
From the memory, the GPS receiver serving as a reference point in interference positioning and at least one positioning data and a plurality of compressed data corresponding to a positioning target period, and the GPS receiver serving as an unknown point and the positioning target Reading means for reading at least one positioning data and a plurality of compressed data corresponding to a period;
Based on a plurality of compressed data in the GPS receiver at the reference point and the unknown point, the GPS reception is performed using the GPS receiver coordinate value of the GPS receiver serving as the unknown point as a predetermined value. A correction value corrected by a double difference in the distance between the approximate position of the aircraft and the satellite, and based on the positioning data in the GPS receiver at the reference point and the unknown point, A double difference calculating means for calculating a correction value of the phase double difference;
Using the correction value of the double difference of the carrier phase calculated based on the positioning data, the cycle slip in each of the correction value of the double difference of the carrier phase calculated based on the compressed data is corrected. Cycle slip correcting means to perform,
Relative position calculation means for calculating the relative position of the GPS receiver serving as the unknown point with respect to the GPS receiver serving as the reference point, based on the correction value of the double difference of the carrier phase with the cycle slip corrected. Including
The displacement measuring system according to claim 9.

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