JP2011242179A - Mobile radio positioning device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a low-cost mobile radio positioning device capable of measuring a position of a mobile terminal with high accuracy.SOLUTION: A plurality of relay stations 202a-202d are arranged at an interval around a reference station 201, the reference station 201 and the plurality of relay stations 202a-202d are connected via transmission cables 101a-101d, and the reference station 201 and a mobile terminal 203 perform two-way communication via the plurality of relay stations 202a-202d, so that the position of the mobile terminal 203 is measured.

Description

In the present invention, a plurality of relay stations are arranged at intervals around a reference station, the reference station and the plurality of relay stations are connected via different transmission cables, and the reference station and the mobile terminal are connected to each other. The present invention relates to a mobile radio positioning apparatus capable of measuring the position of the mobile terminal with high accuracy by performing bidirectional communication between the plurality of relay stations.

Conventionally, a system that performs positioning using a plurality of transmission means has been proposed. (For example, see Patent Documents 1 to 3)
JP 2005-088888 A JP 2006-023261 A JP 2007-010639 A

FIG. 6 shows an example of a conventional “RTK positioning system and its positioning method” described in Patent Document 1.
In FIG. 6, reference numeral 1 denotes an RTK positioning system that performs user positioning using RTK (real-time kinematic) positioning.
This RTK positioning system 1 includes four pseudolites 2, two reference station receiving means comprising a fixed reference station receiving means 3 and a mobile reference station receiving means 4, a rover receiving means 5, a user processing unit 6, a data And a link 7.
Here, the pseudolite 2 is used as a signal source instead of a satellite, and at least four units are necessary when performing three-dimensional positioning of a user, and at least three are necessary when performing two-dimensional positioning. It is said that.

As described above, the conventional “RTK positioning system and its positioning method” requires at least four pseudolites (pseudo satellite stations) to perform three-dimensional positioning, and in addition to the user processing unit 6. The system is complicated and handling is complicated because two reference station receiving means consisting of a fixed reference station receiving means 3 and a mobile reference station receiving means 4, a rover receiver 5 and a data link 7 are required. There was an expensive problem.

On the other hand, in the conventional “active tag device” described in Patent Document 2, the directional antennas 21a and 21b of the receiving unit 2 are directed to face the direction 31 of the directional antenna of the transmitting unit 1, and the transmitting unit 1 Changes in the timing, amplitude, frequency, phase, or combination of these received high-frequency signals when the directional antennas 21a and 21b are switched while transmitting high-frequency signals are detected in real time, and the direction in which the transmitting means 1 is located is detected. It is said that the distance between the transmitting means 1 and the receiving means 2 is detected, but the means or method for detecting the distance between the transmitting means 1 and the receiving means 2 is not clarified. There is a problem that the appeal of positioning the dimension is not made.

Further, in the conventional “active tag device” described in Patent Document 3, a plurality of antennas are connected to the transmitting means on the fixed side, and a plurality of antennas synchronized with or orthogonal to individual system synchronization signals from the antennas. High accuracy by periodically transmitting measurement signals, receiving the system synchronization signal at the receiving means carried by the moving body, detecting the relative distance and direction, and detecting the direction from the average value of the short relative distance However, the role of the system synchronization signal or individual synchronization signal for detecting relative distance and direction with high accuracy is not described, and a single synchronization signal is used. Therefore, there are problems such as that sufficient positioning accuracy cannot be obtained, and that there is no appeal for positioning the three-dimensional position of the receiving means.

According to the present invention, a plurality of relay stations are arranged at intervals around a reference station, the reference station and each relay station are connected via a transmission cable, and the reference station and the mobile terminal are connected via the plurality of relay stations. By carrying out two-way communication with the mobile radio, a mobile radio positioning device capable of measuring the position of the mobile terminal with high accuracy is realized at low cost.

  In the mobile radio positioning apparatus according to the present invention, a plurality of relay stations are arranged at intervals around a reference station, the reference station and each relay station are connected via a transmission cable, and each relay station is Two-way communication with the mobile terminal, the distance via each relay station is measured with high accuracy by either the mobile terminal or the reference station, and the position of the mobile terminal is measured with high accuracy by trigonometric or hyperbolic navigation For example, when positioning the position of the mobile terminal in the reference station, the positioning station generates a positioning request signal including at least an origin signal in order to determine the position of the mobile terminal in the reference station, and includes the positioning request signal Directing high-frequency signals to the plurality of relay stations, intermittently transmitted as burst signals via each transmission cable,

  In the plurality of relay stations, the high-frequency signal is amplified directly or by using an amplifier, and transmitted from each relay station as a radio signal to the mobile terminal via an antenna. At least a starting signal corresponding to the plurality of relay stations from the radio signal received from the receiver, and the recovered starting signal and the synchronous oscillating means are instantaneously established and held in high accuracy, and the synchronous oscillating means Generating a distance measurement signal that is synchronized with or orthogonal to the output signal, and transmitting a radio signal including at least the generated distance measurement signal to the plurality of relay stations,

In the plurality of relay stations, the radio signals are received by the respective antennas to be converted into high-frequency signals and transmitted to the reference station via the transmission cables, and the reference station selects the high-frequency signal corresponding to each relay station. Each of which reproduces at least the distance measurement signal from the high-frequency signal, and measures the propagation time, propagation phase, or both of the reproduced distance measurement signal with high accuracy based on the generated origin signal, and From the measurement result, it is assumed that the position of the mobile terminal is measured with high accuracy by trigonometry or hyperbolic navigation. Similarly, when the position of the own station is measured in the mobile terminal, the procedure is reversed.

In the mobile radio positioning apparatus of the present invention, the position of the mobile terminal is determined by trigonometry or hyperbola by measuring the propagation time, propagation phase, or both of the reproduced distance measurement signal with the generated origin signal as a reference. By navigation, positioning can be performed with high accuracy at low cost.

  The mobile radio positioning apparatus 100 according to the present invention determines the position of the mobile terminal 203 using radio signals as shown in FIGS. 1, 3, 4, and 1 according to the first embodiment of the present invention. In a mobile radio positioning apparatus for positioning with high accuracy, a plurality of relay stations 202a to 202d are arranged at intervals around at least one reference station 201, and a transmission cable 101a is provided between the reference station and each relay station. The reference station 201 includes at least a control unit 11, a transmission unit 12, a reception unit 13, and a high-frequency signal switching unit 14.

  The control means 11 generates at least an intermittent transmission timing signal, generates a positioning request signal including at least an origin signal in synchronization with the timing signal, and the transmitting means 12 includes a high-frequency signal including the generated positioning request signal. And the high-frequency signal switching means 14 sequentially switches and transmits the generated high-frequency signal to each of the plurality of relay stations 202a to 202d via each transmission cable, and the plurality of relay stations Transmits a high frequency signal including the non-positioning request signal to the mobile terminal 203 as a radio signal via each antenna (not shown),

The mobile terminal 203 includes at least an antenna 35, a high-frequency signal switching unit 34, a receiving unit 33, a transmission unit 32, and a control unit 31, and the high-frequency signal switching unit 34 receives the antenna 35. Connected to the means 33 for standby, the receiving means converts the high-frequency signal received by the antenna 35 directly or into an intermediate frequency signal and amplifies it, and the control means 31 performs at least positioning from the high-frequency signal or the intermediate-frequency signal. The starting signal included in the request signal is reproduced, the timing of the rising point, the falling point, or the zero crossing of the reproduced starting signal is detected, and the reproduced starting signal is detected with high accuracy at the detected timing. Establish synchronization instantaneously to maintain synchronization, or configure a delay lock loop to establish synchronization with the reproduced origin signal with high accuracy To maintain synchronization, and generates the distance measurement signal to a synchronization or perpendicular to the origin signal held the synchronization,

The transmission means 32 generates a high-frequency signal including the generated distance measurement signal at the time of time-division simultaneous transmission / reception, and the high-frequency signal switching means 34 connects the transmission means to the antenna at a time-division timing, A high-frequency signal including a distance measurement signal is transmitted as a radio signal to the plurality of relay means via an antenna 35, and the plurality of relay stations 202a to 202d receive the radio signal at each antenna and receive the distance measurement signal. A high-frequency signal including, amplified directly or using a low-noise amplifier, and transmitted to the reference station via each transmission cable,

In the reference station 201, the high-frequency signal switching means 14 selects a high-frequency signal transmitted from the plurality of relay stations 202a to 202d via the transmission cables 101a to 101d while periodically switching the reference station 201, and the receiving means 13 The control unit 11 reproduces at least a distance measurement signal corresponding to the plurality of relay stations from the high frequency signal or the intermediate frequency signal, by directly or directly converting the selected high frequency signal into an intermediate frequency signal and amplifying it. , Measuring the propagation time, propagation phase, or both of the distance measurement signal corresponding to the plurality of relay stations with reference to the generated origin signal, and from a plurality of sets of measurement results corresponding to the plurality of relay stations The position of the mobile terminal 203 is measured with high accuracy by trigonometry or hyperbolic navigation.

  In addition, as shown in FIGS. 1, 3, 4, and 2 according to the second embodiment of the present invention, mobile radio for measuring the position of the mobile terminal 203 with high accuracy using radio signals. In the positioning device, a plurality of relay stations 202a to 202d are arranged at intervals around at least one reference station 201, the reference station and each relay station are connected by transmission cables 101a to 101d, and the mobile terminal 203 includes at least an antenna 35, a control unit 31, a transmission unit 32, a reception unit 33, and a high-frequency signal switching unit 34.

The control means 31 generates a timing signal for at least intermittent transmission, generates a positioning request signal including at least an origin signal in synchronization with the timing signal, and the transmitting means 32 includes the generated positioning request signal A high-frequency signal is generated and intermittently transmitted as a burst signal to the plurality of relay stations 202a to 202d as a radio signal via the antenna 35,

  The plurality of relay stations 202a to 202d receive the radio signals with respective antennas (not shown) to form high frequency signals including positioning request signals, amplify them directly or using a low noise amplifier, and connect the transmission cables. The reference station has at least a high-frequency signal switching unit 14, a receiving unit 13, a transmission unit 12, and a control unit 11, and the high-frequency signal switching unit 14 includes the plurality of high-frequency signal switching units 14. A high-frequency signal transmitted from each of the relay stations via the transmission cables 101a to 101d is selected while being periodically switched, and the receiving means 13 converts the selected high-frequency signal directly or into an intermediate frequency signal. Amplify and

  The control means 11 reproduces at least the starting point signal included in the positioning request signal from the high frequency signal or the intermediate frequency signal, and detects the timing of the rising point, falling point, or zero crossing of the reproduced starting point signal, At the detected timing, synchronize with the reproduced starting signal instantly with high accuracy and maintain synchronization, or configure a delay lock loop to establish synchronization with the reproduced starting signal with high accuracy. The transmitter 12 generates a distance measurement signal that is synchronized with or orthogonal to the synchronization origin signal, and the transmission means 12 performs time-division simultaneous transmission and reception of the high-frequency signal including the generated distance measurement signal. And the high-frequency signal switching means 14 periodically switches the high-frequency signal including the distance measurement signal while switching each transmission cable 101a. Through 101d, sequentially transmitted toward the plurality of relay stations 202 a to 202 d,

  The plurality of relay stations transmit the high-frequency signal transmitted via the transmission cables to the mobile terminal as a radio signal via an antenna. In the mobile terminal 203, the receiving unit 33 includes: The radio signals transmitted from the plurality of relay stations are received by the antenna 35 to be converted into high frequency signals, directly or converted into intermediate frequency signals and amplified, and the control means 31 converts the intermediate frequency signals into the plurality of relay stations. And at least a distance measurement signal is reproduced corresponding to the plurality of relay stations, and a propagation time, a propagation phase, or both of the distance measurement signal is measured based on the generated origin signal corresponding to the plurality of relay stations, Based on a plurality of sets of measurement results corresponding to the relay station, the position of the mobile terminal is measured with high accuracy by trigonometric or hyperbolic navigation.

  Further, as shown in FIG. 4 and claim 3, the control means 11, 31 includes at least signal reproduction means 44, 50, synchronization detection means 49, and synchronous oscillation means 46, and the signal reproduction. Means reproduces the origin signal or distance measurement signal from the high frequency signal or intermediate frequency signal, and the synchronization detection means reproduces the timing of the rising point, falling point, or zero crossing point of the reproduced origin signal or distance measurement signal; The synchronous oscillating means establishes synchronization with the reproduced starting point signal or distance measurement signal with high accuracy and maintains synchronization at the detected timing, and the synchronization is maintained. A synchronization signal is generated at a frequency or chip rate that is an integer multiple of the frequency of the starting signal or the chip rate.

According to a fourth aspect of the present invention, the distance measurement signal is a carrier signal, a subcarrier signal, a modulation signal, a spread spectrum code, or a combination thereof.
Further, as shown in claim 5, at least a notification signal is included in the high-frequency signal transmitted from the reference station 201, and the notification signal includes at least information regarding the position of the reference station, information regarding the position of each relay station, and each transmission. Contains information about cable length, or a combination of these.

  Further, as shown in claim 6, when the reference station 201 or the mobile terminal 203 measures the position of the mobile terminal 203, the control means 11, 31 makes the rising point and the rising edge of the reproduced distance measurement signal. Detects the timing of the down or zero crossing, establishes synchronization with the reproduced distance measurement signal at the detected timing with high accuracy and maintains synchronization, and distance measurement with the synchronization maintained Synchronize with the signal or generate an orthogonal synchronization signal, and set the frequency of the generated synchronization signal in accordance with the positioning range required by the control means, or the control means may have a plurality of synchronization signals having different frequencies. High positioning accuracy can be achieved by selecting an optimum one from the plurality of synchronization signals according to the positioning range required by the control means. To.

In addition, as shown in claim 7, the control means 11, 31 uses the optimum positioning range by changing the positioning range from the long scale to the short scale sequentially or by switching. The position of the mobile terminal 203 is measured with high accuracy.
Further, as defined in claim 8, in the signal generating means 45, 47 of the control means 11, 31 or the signal reproducing means 44, 50, the origin signal or distance measurement signal is a carrier signal or subcarrier signal of a radio signal. The analog demodulator with a small delay error or a modulated signal obtained by modulating a carrier signal or subcarrier signal of a radio signal directly or through a band-pass filter with a small group delay distortion and delay error. After being demodulated by a digital demodulator with a small delay error using a high frequency sampling signal, it is reproduced through the band pass filter.

  According to a ninth aspect of the present invention, the control means 11, 31 includes at least a reference oscillator 41, a phase synchronous oscillator 48, a synchronous detection means 49, and a synchronous oscillation means 46, and the synchronous oscillation means 46 Is constituted by a counter with a set or reset or a numerically controlled oscillator that is driven by converting the oscillation frequency of the reference oscillator 41 to a high frequency by a phase-locked oscillator 48, and the synchronization detecting means 49 has at least 128 MHz or more. Using the frequency sampling signal, the timing of the rising point, falling point, or zero crossing point of the reproduced starting signal or distance measurement signal is detected, and the synchronous oscillating means 46 is set or reset at the detected timing. By doing so, the synchronous oscillating means 46 makes the origin signal or distance Establishing a measurement signal and a short synchronization instantaneously, and also after the origin signal or distance measurement signal is or disappeared stopped, relatively maintained for a long time period.

  Further, as shown in claim 10, the phase measuring means 43 of the control means 11, 31 has a sampling frequency that is an integer multiple of 4 of the frequency of the reproduced starting signal or distance measuring signal or generated synchronization signal, In addition, it is converted into a digital signal by using an analog-digital converter of 4 bits or more, and 0, 1, 0, -1, or 1, 1, -1, -1, or a repetition thereof as a Sin lookup table The Cos lookup table is 1, 0, −1, 0 or 1, −1, −1, 1, or a repetition thereof, and performs a product-sum operation on the converted digital signal and the lookup table.

  In addition, as shown in claim 11, the receiving means 13 and 33 have quality detecting means for detecting the quality of a propagation path, and the quality detecting means receives a radio signal or a high-frequency signal received by the receiving means. Analyzing the line quality from the result of measuring the power or signal-to-noise ratio, or analyzing the result of measuring the propagation time, propagation phase, or both of the distance measurement signal by the control means 11, 31, or these Both analyzes are performed, and the positioning results are corrected, complemented, filtered, or a combination thereof.

Further, as shown in claim 12, the portable terminal 203, the plurality of relay stations 202a to 202d, or both of them are provided with a plurality of antennas and periodically switched, and measurement is performed corresponding to the plurality of antennas. By selecting, averaging, weighted average, or a combination of the measurement results of the distance measurement signal propagation time, propagation phase, or both, measured or calculated relatively small The positioning result is corrected, complemented, filtered, or a combination thereof.
Further, according to a thirteenth aspect of the present invention, the frequency of the radio signal is a frequency assigned to GPS, a frequency in the vicinity thereof, a frequency determined by law, or a combination thereof.

(Embodiment 1)
1, 3 and 4 are configuration diagrams of the mobile radio positioning apparatus according to the first embodiment of the present invention. 1, 3, and 4, 201 is a reference station, 202 a to 202 d are a plurality of relay stations, 21 a to 21 d are connection terminals, 101 a to 101 d are transmission cables, 203 is a portable terminal, and 102 a to 102 d are radio signal propagations Path, 11 and 31 are control means, 12 and 32 are transmission means, 13 and 33 are reception means, 14 and 34 are high frequency signal switching means, 35 is an antenna of the mobile terminal 203, 41 is a reference oscillator, and 42 is position positioning means. , 43 is a phase measuring means, 44 is a distance measuring signal reproducing means, 45 is a starting signal generating means, 46 is a synchronous oscillator, 47 is a distance measuring signal generating means, 48 is a phase synchronous oscillator, 49 is a synchronous detecting means, and 50 is a starting point. Signal reproducing means 51 and 52 are connection terminals.

  In a mobile radio positioning apparatus using radio signals, a plurality of relay stations 202a to 202d are arranged at intervals around at least one reference station 201, and transmission cables 101a to 101d are connected between the reference station and each relay station. And a mobile terminal 203 that performs two-way communication with the reference station 201 via the plurality of relay stations 202a to 202d. The reference station 201 includes at least a control unit 11 and a transmission unit 12. The receiving means 13, the high-frequency signal switching means 14, and the connection terminals 21a to 21d, the starting signal generating means 45 of the control means 11 generates a positioning request signal including the starting signal, and the transmitting means 32 A high-frequency signal further including a system synchronization signal and an identification signal generated separately from the positioning request signal including the origin signal as a burst signal and Was deleted to transmit the radio frequency signal switch unit 14 are sequentially switched and transmitted toward the plurality of relay stations 202a~202d via the transmission cable 101a~101d and the connection terminals 21a to 21d,

  The plurality of relay stations 202a to 202d amplify a high-frequency signal transmitted from the reference station 201 directly or by an amplifier, and transmit it as a radio signal via an antenna (not shown). An antenna 35, a high-frequency signal switching unit 34, a receiving unit 33, a transmitting unit 32, and a control unit 31 are further included. The control unit 31 further includes an origin signal reproduction unit 50, a synchronization detection unit 49, and a synchronous oscillation unit. 46 and a distance measurement signal generating means 47, the high frequency signal received by the antenna 35 is connected to the receiving means 33 by the high frequency signal switching means 34, and the receiving means 33 converts it directly or into an intermediate frequency signal. Amplifying, and the origin signal reproduction means 45 reproduces the origin signal included in the high frequency signal,

  The synchronization detection means 49 detects the timing of the rising point, falling point, or zero crossing of the reproduced starting signal, and the synchronous oscillating means 46 instantaneously establishes synchronization with the starting signal at the detected timing. The starting point signal reproducing means 45, the synchronization detecting means 49, and the synchronous oscillating means 46 constitute a delay lock loop, and synchronize with the reproduced starting point signal with high accuracy. The distance measurement signal generation unit 47 generates a distance measurement signal that is synchronized with or orthogonal to the output signal of the synchronous oscillation unit 46 or the delay locked loop, and the transmission unit 32 is the generated distance measurement signal. A separately generated high frequency signal including at least the system synchronization signal and the identification signal is generated by time division simultaneous transmission / reception timing, and the high frequency signal switching means 34 is generated. The generated high-frequency signal is connected to an antenna 35 and transmitted as a radio signal to the plurality of relay stations, and the plurality of relay means receive the radio signal at each antenna (not shown). A signal transmitted to the reference station 201 via the transmission cables 101a to 101d,

  The reference station 201 switches and connects the high-frequency signal to the receiving unit 13 in order corresponding to the plurality of relay stations 202a to 202d by the high-frequency signal switching unit 14, and directly or intermediately converts the high-frequency signal to the intermediate frequency signal. The distance measurement signal is regenerated by the distance measurement signal regenerating means 44 of the control means 11, and the output signal of the synchronous oscillator 46 is used as a reference to correspond to the plurality of relay stations 202a to 202d. The phase measurement means 43 measures the propagation time, propagation phase, or both of the reproduced distance measurement signal, and the position measurement is performed based on the plurality of sets of measurement results corresponding to the plurality of relay stations 202a to 202d. By means 42, the position of the mobile terminal 203 can be measured with high accuracy by triangulation or hyperbolic navigation.

  In the control means 11 or 31, the distance measurement signal reproduction means 44 reproduces a distance measurement signal from the intermediate frequency signal corresponding to the plurality of relay stations 202a to 202d, and the synchronization detection means 46 The timing of the rising point, the falling point, or the zero crossing of the reproduced distance measurement signal is detected, and the synchronous oscillating means 46 is highly accurate with the reproduced distance measurement signal at the detected timing. The synchronization signal is generated at a frequency or a chip rate that is an integral multiple of the frequency of the distance measurement signal or the chip rate that holds the synchronization,

  Alternatively, the distance measurement signal reproducing means 50, the synchronization detecting means 49, and the synchronous oscillating means 46 constitute a delay lock loop, and establish synchronization with the reproduced distance measurement signal with high accuracy to maintain the synchronization, A synchronization signal is generated at a frequency or a chip rate that is an integral multiple of the frequency of the distance measurement signal or the chip rate that is kept synchronized, or at the phase measurement means 43 of the control means 11 or 31 by the origin signal generation means 45. By measuring the phase of the synchronization signal synchronized with the distance measurement signal on the basis of the generated origin signal, the propagation time, the propagation phase, or both of the distance measurement signal are expanded to an integral multiple and measured. Even when the distance between the reference station 201 and the plurality of relay stations 202a to 202d is relatively short, high accuracy can be achieved. Much can be achieved.

The phase-locked oscillator 48 of the control means 11 or 31 multiplies the frequency in synchronization with the clock signal output from the reference oscillator 41, and the synchronous oscillating means 46, the synchronization detecting means 49, the signal reproducing means 44, 50, Alternatively, multiplied clock signals are supplied to these combinations, and used to improve the synchronization detection accuracy of the synchronization detection means 49 and the synchronization establishment accuracy of the synchronization oscillation means 46.
Further, the origin signal or the distance measurement signal is a carrier signal, a subcarrier signal, a modulation signal, a spread spectrum code, or a combination thereof.
The high-frequency signal transmitted from the reference station 201 includes at least a notification signal, and the notification signal includes at least information regarding the position of the reference station, information regarding the position of each relay station, information regarding the length of each transmission cable, or These combinations are included.

Further, when the reference station 201 or the mobile terminal 203 measures the position of the mobile terminal 203, the phase measurement means 43 of the control means 11 or 31 is requested for the frequency of the synchronization signal generated by the synchronous oscillation means 46. The synchronization oscillation means 46 generates a plurality of synchronization signals having different frequencies, and the synchronization measurement means 46 generates a plurality of synchronization signals according to the positioning range required by the phase measurement means 43. By selecting the optimal one, high positioning accuracy can be realized.
Further, by changing the positioning range of the phase measuring means 43 from a long scale to a short scale sequentially or switching and setting it, the position of the moving body 203 can be determined with high accuracy using the optimum positioning range. Positioning can be performed.

  Further, in the signal generating means 45, 47 or the signal reproducing means 44, 50, when the origin signal or distance measurement signal is a carrier signal or subcarrier signal of a radio signal, direct group delay distortion and delay error are generated. In the case of a modulated signal obtained by modulating a carrier wave signal or subcarrier signal of a radio signal through a band-pass filter with a small delay, an analog demodulator with a small delay error or a high frequency signal supplied from the phase-locked oscillator 48 is used. After being demodulated by a digital demodulator with a small delay error using a clock signal, it is reproduced through the band pass filter.

  The synchronous oscillation means 46 is constituted by a counter with a set or reset, or a numerically controlled oscillator, which is driven by converting the oscillation frequency of the reference oscillator 41 to a high frequency by a phase synchronous oscillator 48, and the synchronous detection means 49 detects the timing of the rising point, falling point, or zero-crossing point of the reproduced starting signal or distance measurement signal using a sampling signal having a frequency of at least 128 MHz, and sets or resets at the detected timing. By setting or resetting a counter or numerically controlled oscillator, the synchronous oscillation means 46 establishes synchronization with the starting signal or distance measurement signal instantaneously, and the starting signal or distance measurement signal stops or disappears. After a relatively long time The synchronization can be held.

  The phase measuring means 43 converts the reproduced distance measurement signal or the generated synchronization signal into a digital signal using a sampling frequency that is an integer multiple of 4 and a 4-bit or more analog-digital converter. , Sin lookup table 0, 1, 0, −1, or 1, 1, −1, −1, or repetition thereof, and Cos lookup table 1, 0, −1, 0 or 1 −1, −1, 1, or a repetition of these, and performing the product-sum operation on the converted digital signal and the lookup table, it is an inexpensive circuit and high speed, and real-time product-sum operation is performed. It becomes possible.

In addition, the mobile terminal 203, the plurality of relay stations 202a to 202d, the reference station 201, or a combination of these reception means has a quality detection means for detecting the quality of a radio signal propagation path, and the quality detection means, The channel quality is analyzed from the result of measuring the power or signal-to-noise ratio of the radio signal received by the receiving means, and the position specifying result is filtered, corrected, or complemented.
In addition, a plurality of antennas are provided in the portable terminal, the relay station, or both of them, and periodically switched, and the propagation time, the propagation phase, or both of the distance measurement signals measured corresponding to the plurality of antennas are determined. Among the measured results, select a relatively small measured or calculated, average, load average, or perform a combination of these to correct, supplement, and filter the positioning results, Alternatively, the positioning accuracy can be improved by combining these.

In addition, when the mobile terminal receives radio signals transmitted from a plurality of sets of relay stations connected to a plurality of reference stations, the mobile terminal determines from the result of measuring the power or signal-to-noise ratio of the received radio signal. The position specifying accuracy can be improved by selecting the reference station and specifying the position, or by averaging the position specifying results using the plurality of reference stations.
Further, the mobile terminal 203 or the reference station 201 asynchronously transmits a radio signal from a plurality of mobile terminals or a plurality of reference stations by controlling the interval at which the radio signal is intermittently transmitted using a self-excited oscillator provided therein. Alternatively, by controlling the interval of intermittent transmission according to the moving speed of the portable terminal, it is possible to efficiently use the radio signal.
In addition, a plurality of sets of the reference station 201 and a plurality of relay stations 202a to 202d can constitute an ad hoc network and exchange information necessary for the location specification. It is also possible to link to an external communication line by providing a node.

  FIG. 5 is a timing chart according to the first embodiment of the present invention, in which 61 is a starting point signal generated by the starting point signal generating means 45 of the reference station 201, 61a is a radio signal from the relay station 202a via the transmission cable 101a. Is transmitted from the mobile terminal 203 and is reproduced at the mobile terminal 203, 62a is a distance measurement signal that establishes synchronization with the origin signal 61a at the mobile terminal 203 and maintains synchronization, 63a is a distance measurement signal transmitted from the mobile terminal 203, and 64a is A distance measurement signal reproduced at the reference station 201 from the mobile terminal 203 via the relay station 202a through the transmission cable 202a, 65a is a synchronization signal synchronized with the distance measurement signal at the reference station 201,

  61b is a starting point signal transmitted as a radio signal from the relay station 202b via the transmission cable 101b and reproduced at the mobile terminal 203, 62b is a distance measurement signal that establishes synchronization with the starting point signal 61b and maintains synchronization at the mobile terminal 203, 63b is a distance measurement signal transmitted from the mobile terminal 203, 64b is a distance measurement signal reproduced in the reference station 201 from the mobile terminal 203 via the relay station 202b via the transmission cable 202b, and 65b is the distance measurement signal in the reference station 201. 67 is a time division simultaneous transmission / reception interval, 67a is a first time slot, 67b is a second time slot, 68a is a propagation time or propagation phase of a distance measurement signal via the relay station 202a, 68b Is the propagation time or propagation of the distance measurement signal via the relay station 202b. It is a phase.

  Since the synchronization signals 61d and 62d can be set to an integer multiple of the frequency or chip rate of the origin signal or distance measurement signals 61c and 62c, the phase difference 103 increases when the frequency or chip rate of the synchronization signal is increased. Therefore, it is equivalent to shortening the positioning range, and the phase difference 103 is enlarged, and it can be seen that the positioning accuracy is further increased. For example, when the frequency of the synchronization signal is 1 MHz, the 360 ° phase changes when the distance between the reference station 201 and the mobile terminal is 150 m, whereas when the frequency of the synchronization signal is 8 MHz, the frequency changes every 18.8 m. Since the 360 ° phase changes, when the phase difference measurement accuracy is ± 0.5 °, the positioning accuracy is ± 21 cm in the former, and ± 2.6 cm in the latter, so the error is 10 minutes. It can be seen that it can be improved to 1. In particular, since the synchronization signals 61d and 62d maintain high stability for a relatively long time even after the origin signal or distance measurement signals 61c and 62c are stopped, the phase difference between the synchronization signals 61d and 62d. Can be measured over a relatively long time.

  Also, assuming that the origin signal 61 transmitted from the reference station 201 is ASin (2πf1t), the first origin signal 61 is transmitted through the transmission cable 101a, reaches the mobile terminal 203 via the relay station 202a, and the mobile terminal 203, a distance measurement signal synchronized with the origin signal is generated, propagated from the mobile terminal 203 through the radio propagation path 102a, transmitted through the relay station 202a through the transmission cable 101a, and the distance to the reference station 203 is La (m) Then, the phase of the distance measurement signal 64a in the reference station 201 changes to BSin {2πf1t + (La) (2πf1) / C)}. 2πf1) / C)}, and La (m) can be calculated as the distance. Here, C is the speed of light. Similarly, since the distances Lb (m) to Ld (m) passing through the relay stations 202b to 202d can be calculated, the position of the mobile terminal 203 can be measured with high accuracy by triangulation or hyperbolic navigation.

  In addition, the system synchronization signal shown in the figure is a multi-bit unique word, and the control timing between the reference station 201 and the mobile terminal 203 can be matched with an accuracy of about ± 100 nanoseconds. When the phase difference is detected by the above method, there is a problem that a distance measurement error becomes as large as several tens of meters. Therefore, a starting point signal is newly provided and transmitted from the reference station 201 via a plurality of relay stations, a distance measurement signal that establishes synchronization with the starting point signal is generated and returned at the mobile terminal 203, and the starting point signal is output at the reference station 201. By measuring the propagation time or propagation phase of the distance measurement signal with reference to, high-accuracy positioning is realized.

The MAC layer is composed of at least a code length, an identification number, a partner number, a broadcast signal, an error correction code, or a combination thereof, and is generated as a set with the system synchronization signal. If the time is set to about 0.5 ms to 1 ms and the duration time of the origin signal or the distance measurement signal is set to about 1 ms, the total time of 4 time slots is about 4.5 ms to 5 ms. Even if there is a difference between the frequency stability of the reference oscillator of the reference station and the frequency stability of the reference oscillator of the mobile terminal during the duration, the first origin signal or distance measurement signal to the fourth origin signal or distance measurement signal The relative phase relationship between the two is kept uniform, which has the effect of enabling highly accurate positioning.
In addition, the system synchronization signal and the MAC layer can be added to the beginning of the second time slot to the fourth time slot or the head of the distance measurement signal.

(Embodiment 2)
1, 3 and 4 are configuration diagrams of a mobile radio positioning apparatus according to a second embodiment of the present invention. 1, 3, and 4, 201 is a reference station, 202 a to 202 d are a plurality of relay stations, 21 a to 21 d are connection terminals, 101 a to 101 d are transmission cables, 203 is a portable terminal, and 100, 102 a to 102 d are wireless signals. 11 and 31 are control means, 12 and 32 are transmission means, 13 and 33 are reception means, 14 and 34 are high-frequency signal switching means, 35 is an antenna of the mobile terminal 203, 41 is a reference oscillator, and 42 is a distance. Calculation means 43, phase measurement means 44, distance measurement signal regeneration means 45, origin signal generation means 45, synchronous oscillator 46, distance measurement signal generation means 47, phase synchronization oscillator 48, synchronization detection means 49 Is a starting point signal reproducing means, and 51 and 52 are connection terminals.

  In a mobile radio positioning apparatus using radio signals, a plurality of relay stations 202a to 202d are arranged at intervals around at least one reference station 201, and transmission cables 101a to 101d are connected between the reference station and each relay station. And a mobile terminal 203 that performs two-way communication with the reference station 201 via the plurality of relay stations 202a to 202d. The mobile terminal 203 includes at least a control means 31 and a transmission means 32. A receiving means 33, a high frequency signal switching means 34, and an antenna 35, the starting point signal generating means 45 of the control means 31 generates a positioning request signal including a starting point signal, and the transmitting means 32 A radio signal further including a system synchronization signal and an identification signal generated separately from the positioning request signal including the origin signal, as a burst signal and intermittently, Serial and transmitted to the high-frequency signal switching means 34 and the plurality of relay stations 202a~202d via an antenna 35,

  The plurality of relay stations 202a to 202d receive a radio signal transmitted from the mobile terminal 203, amplify it directly or by a low noise amplifier, and transmit it as a high frequency signal via the transmission cables 101a to 101d. 201 includes at least a high-frequency signal switching unit 14, a receiving unit 13, a transmitting unit 12, and a control unit 11, and the control unit 11 further synchronizes with an origin signal reproduction unit 50, a synchronization detection unit 49, and a synchronous oscillation. Means 46 and distance measurement signal generation means 47, and the high-frequency signal switching means 14 sequentially and periodically switches the transmitted high-frequency signals corresponding to the plurality of relay stations and connects to the reception means 13 The reception means 13 converts the signal directly or into an intermediate frequency signal and amplifies the signal, and the origin signal reproduction means 45 is the origin included in the high frequency signal. Play the issue,

  The synchronization detection means 49 detects the timing of the rising point, falling point, or zero crossing of the reproduced starting signal, and the synchronous oscillating means 46 instantaneously establishes synchronization with the starting signal at the detected timing. The starting point signal reproducing means 45, the synchronization detecting means 49, and the synchronous oscillating means 46 constitute a delay lock loop, and synchronize with the reproduced starting point signal with high accuracy. And the distance measurement signal generation means 47 generates a distance measurement signal that is synchronized with or orthogonal to the output signal of the synchronous oscillation means 46 or the delay lock loop, and the transmission means 12 is the generated distance measurement signal. A high-frequency signal including at least a system synchronization signal and an identification signal generated separately is generated at the time of time-division simultaneous transmission / reception, and the high-frequency signal switching means 1 The generated high-frequency signals are sequentially and periodically switched and transmitted to the plurality of relay stations via the transmission cables 101a to 101d, and the plurality of relay means are connected to the antennas (not shown). To the mobile terminal 203 as a wireless signal,

The mobile terminal 203 receives the radio signal via the antenna 35, connects to the receiving means 33 by the high frequency signal switching means 34, converts it directly or into an intermediate frequency signal by the receiving means 33, and amplifies the control means 31. The distance measurement signal reproduction means 44 reproduces the distance measurement signal, and the phase of the reproduced distance measurement signal is set to the phase measurement means 43 corresponding to the plurality of relay stations 202a to 202d with reference to the output signal of the synchronous oscillator 46. Is used to measure the propagation time, propagation phase, or both, and from the plurality of sets of measurement results corresponding to the plurality of relay stations 202a to 202d measured by the position positioning means 42, the position of the own station is determined by trigonometry or hyperbola. Positioning can be performed with high accuracy by navigation.

  FIG. 2 is an explanatory diagram of the positioning principle of the mobile radio positioning device according to the first and second embodiments of the present invention. In FIG. 2, 300 is the height of the antenna of the ground or the mobile terminal 203, 202a and 202b are relay stations, 211a is a position directly below the intermediate point between the relay stations 202a and 202b, and 211b is directly below the relay station 202b. The position 211c is a position 212c (for example, 5.5 m) from the position 211a immediately below the intermediate point, 212a is the distance between the relay stations (for example, 1 m), and 212b is the height of each relay station (for example, 5 m). . When the mobile terminal 203 is at the point 211a, the phase of the distance measurement signal included in the radio signal received by each relay station 202a, 202b is the same, but when the mobile terminal 203 is at the point 211b, 211c, it is received from the relay station 202a. The distance measurement signal included in the wireless signal to be transmitted is later than the distance measurement signal included in the wireless signal received from the relay station 202b.

If the frequency of the synchronization signal generated by the synchronous oscillation means of the mobile terminal 203 is 8 MHz, the positioning range is 18.8 m. Therefore, when the moving average value of the positioning results of four times is obtained from four relay stations. Since a phase measurement accuracy of about ± 0.5 ° can be realized, the positioning error ΔL is about ΔL = ± 0.5 ° × (18.8 m / 360 °) ≈ ± 2.6 cm. On the other hand, (1) since the distance from the relay station 202a to the point 211b is 5.1 m and the distance from the relay station 202b to the point 211b is 5 m, the distance difference between them is 0.1 m, and the phase difference ΔΦ is ΔΦ = 360 ° × (0.1 m / 10 m) ≈3.6 °, and (2) the distance from the relay station 202a to the point 211c is about 7.81 m, and the distance from the relay station 202b to the point 211c is about 7. Since the distance is 07 m, the distance difference between them is 0.74 m, and the phase difference ΔΦ is ΔΦ = 360 ° × (0.74 m / 10 m) = 26.64 °, both of which are measured with an error of about ± 2.6 cm. Is possible.

In the above description, the case of using a distance measurement signal having a single frequency or a synchronization signal synchronized therewith has been described, but it is necessary to limit the phase change ΔΦ to 0 <ΔΦ <2π. As for the frequency of the distance measurement signal, the upper limit of the frequency is suppressed due to legal restrictions, and it is not possible to freely select the frequency, so as a synchronization signal signal, multiple synchronization signals with different frequencies can be used. It is possible to measure the position within the positioning range, and it is possible to obtain a merit that precise position detection is possible by matching the optimum positioning range to the position to be positioned.
Also, a plurality of origin signals or distance measurement signals having different frequencies generated by the control means can be simultaneously transmitted by the frequency division multiplexing method or the OFDM method.

Moreover, an ultrasonic signal, a high frequency signal, or an optical signal can be used as the wireless signal. In the case of an ultrasonic signal or an optical signal, a transducer is used instead of an antenna.
The same effect can be obtained by using a frequency division simultaneous transmission / reception (FDD) method as a radio signal instead of the time division simultaneous transmission / reception (TDD) method.
In addition, as a frequency of the radio signal, a frequency assigned to GPS, a frequency in the vicinity thereof, a frequency stipulated by laws and regulations, a spreading code different between the reference station and each relay station, or a frequency of a combination thereof can be assigned. GPS can be seamless.

According to the present invention, a highly accurate positioning device can be realized at a low cost in a factory or a warehouse where metal reflectors are scattered, and can also be applied to logistics management by replacing it with an RF tag as a mobile terminal.
Note that the mobile radio positioning technology of the present invention is a basic technology, and can be expected to be used in various fields other than the above.

The block diagram of the mobile radio positioning apparatus by the 1st Embodiment of this invention Explanatory drawing of the positioning principle of the mobile radio positioning apparatus according to the first embodiment and the second embodiment of the present invention Configuration diagram of reference station and mobile terminal according to first and second embodiments of the present invention The block diagram of the control means by the 1st Embodiment of this invention and 2nd Embodiment Timing chart according to the first embodiment of the present invention Configuration diagram showing a conventional example

DESCRIPTION OF SYMBOLS 1 RTK positioning system 2 Several pseudolites 3 Fixed reference station receiving means 4 Mobile reference station receiving means 5 Rover receiving means 6 User processing unit 7 Data link 101a-101d Transmission cable 102a-102d between reference station and relay station Relay station and mobile terminal Wireless signal propagation path 201 between the reference stations 202a to 202d and a plurality of relay stations 203

Claims (13)

In a mobile radio positioning device for measuring the position of a mobile terminal with high accuracy using a radio signal,
A plurality of relay stations are arranged at intervals around at least one reference station, and the reference station and each relay station are connected by a transmission cable,
The reference station has at least control means, transmission means, reception means, and high-frequency signal switching means,
The control means generates a timing signal for at least intermittent transmission, generates a positioning request signal including at least a starting signal in synchronization with the timing signal,
The transmitting means transmits a high-frequency signal including the generated positioning request signal;
The high-frequency signal switching means sequentially transmits the transmitted high-frequency signal through each transmission cable toward the plurality of relay stations,
The plurality of relay stations transmit a high-frequency signal including the positioning request signal to the mobile terminal as a radio signal via each antenna,
The mobile terminal has at least an antenna, a high-frequency signal switching unit, a receiving unit, a transmitting unit, and a control unit,
The high-frequency signal switching means connects the antenna to the receiving means and stands by,
The high frequency signal received by the antenna by the receiving means is converted directly or into an intermediate frequency signal and amplified,
The control means reproduces at least a starting point signal included in the positioning request signal from the high frequency signal or the intermediate frequency signal, detects a rising point, a falling point, or a zero crossing timing of the reproduced starting point signal, At the detected timing, synchronize with the reproduced starting signal instantly with high accuracy and maintain synchronization, or configure a delay lock loop to establish synchronization with the reproduced starting signal with high accuracy. Maintaining a synchronization and generating a distance measurement signal that is synchronized with or orthogonal to the origin signal that has been synchronized;
The transmission means generates a high-frequency signal including the generated distance measurement signal at the timing of time-division simultaneous transmission / reception,
The high-frequency signal switching means connects the transmission means to the antenna at time division timing, and transmits the high-frequency signal including the distance measurement signal to the plurality of relay means via the antenna as a radio signal,
The plurality of relay stations receive the radio signal by each antenna to form a high-frequency signal including a distance measurement signal, amplify it directly or using a low noise amplifier, and transmit it to the reference station via each transmission cable. ,
In the reference station,
The high-frequency signal switching means is selected while periodically switching the high-frequency signal transmitted from each of the plurality of relay stations via each transmission cable,
The receiving means converts the selected high-frequency signal directly or into an intermediate frequency signal and amplifies it,
The control means reproduces at least a distance measurement signal corresponding to the plurality of relay stations from the high frequency signal or intermediate frequency signal, and a propagation time, a propagation phase of the distance measurement signal corresponding to the plurality of relay stations, or Both of these are measured using the generated origin signal as a reference, and the position of the mobile terminal is determined with high accuracy by trigonometry or hyperbolic navigation from a plurality of measurement results corresponding to the plurality of relay stations. A mobile radio positioning device.
In a mobile radio positioning device for measuring the position of a mobile terminal with high accuracy using a radio signal,
A plurality of relay stations are arranged at intervals around at least one reference station, and the reference station and each relay station are connected by a transmission cable,
The mobile terminal has at least an antenna, a control unit, a transmission unit, a reception unit, and a high-frequency signal switching unit,
The control means generates a timing signal for at least intermittent transmission, generates a positioning request signal including at least a starting signal in synchronization with the timing signal,
The transmission means generates a high-frequency signal including the generated positioning request signal, and intermittently transmits to the plurality of relay stations as a radio signal via the antenna,
The plurality of relay stations receive the radio signal by each antenna to form a high frequency signal including a positioning request signal, amplify it directly or using a low noise amplifier, and transmit it to the reference station via each transmission cable. ,
The reference station has at least high-frequency signal switching means, receiving means, transmitting means, and control means,
The high-frequency signal switching means selects a high-frequency signal transmitted through each transmission cable from among the plurality of relay stations while periodically switching,
The receiving means converts the selected high-frequency signal directly or into an intermediate frequency signal and amplifies it,
The control means reproduces at least a starting point signal included in the positioning request signal from the high frequency signal or the intermediate frequency signal, detects a rising point, a falling point, or a zero crossing timing of the reproduced starting point signal, At the detected timing, synchronize with the reproduced starting signal instantly with high accuracy and maintain synchronization, or configure a delay lock loop to establish synchronization with the reproduced starting signal with high accuracy. Maintaining a synchronization and generating a distance measurement signal that is synchronized with or orthogonal to the origin signal that has been synchronized;
The transmission means generates a high-frequency signal including the generated distance measurement signal at the timing of time-division simultaneous transmission / reception,
The high-frequency signal switching means, while periodically switching the high-frequency signal including the distance measurement signal, sequentially transmitted to a plurality of relay stations through each transmission cable,
The plurality of relay stations transmit high frequency signals transmitted via the transmission cables to the mobile terminal as radio signals via antennas,
In the mobile terminal,
The receiving means receives a radio signal transmitted from the plurality of relay stations with an antenna to form a high-frequency signal, and directly or intermediately converts and amplifies the signal,
The control means reproduces at least a distance measurement signal corresponding to the plurality of relay stations from the intermediate frequency signal, and a propagation time, a propagation phase, or both of the distance measurement signals corresponding to the plurality of relay stations And measuring the position of the mobile terminal with high accuracy by trigonometry or hyperbolic navigation based on a plurality of sets of measurement results corresponding to the plurality of relay stations. Mobile radio positioning device.
The control means includes at least a signal reproduction means, a synchronization detection means, and a synchronization oscillation means,
The signal reproducing means reproduces a starting point signal or a distance measurement signal from the high frequency signal or the intermediate frequency signal,
The synchronization detection means detects a timing of a rising point, a falling point, or a zero crossing point of the reproduced starting point signal or distance measurement signal;
The synchronous oscillating means establishes synchronization with the reproduced starting point signal or distance measurement signal at the detected timing and instantly synchronizes with high accuracy, and the starting signal or The mobile radio positioning apparatus according to claim 1 or 2, wherein the synchronization signal is generated at a frequency or chip rate that is an integral multiple of the frequency or chip rate of the distance measurement signal.
The mobile radio positioning apparatus according to claim 1 or 2, wherein the distance measurement signal is a carrier signal, a subcarrier signal, a modulation signal, a spread spectrum code, or a combination thereof.
The high-frequency signal transmitted from the reference station includes at least a notification signal, and the notification signal includes at least information on the position of the reference station, information on the position of each relay station, information on the length of each transmission cable, or a combination thereof The mobile radio positioning apparatus corresponding to claim 1 or 2, characterized by comprising:
When the reference station or mobile terminal measures the position of the mobile terminal, the control means detects the timing of the rising point, falling point, or zero crossing of the reproduced distance measurement signal, and the detected Generates a synchronization signal that is synchronized with or orthogonal to the distance measurement signal that is synchronized with the distance measurement signal that is reproduced at the timing and is synchronized with the accuracy and instantaneously. Set the frequency of the synchronization signal to match the required positioning range, or generate multiple synchronization signals with different frequencies, and select the optimal frequency according to the required positioning range from the multiple synchronization signals. 3. A mobile radio positioning apparatus corresponding to claim 1 or claim 2, wherein high positioning accuracy is realized by selecting one.
The control means increases the position of the mobile terminal using the optimum positioning range by changing the positioning range from the long scale to the short scale or vice versa, or by switching and setting. The mobile radio positioning apparatus according to claim 6, wherein positioning is performed with accuracy.
In the signal generation means or the signal reproduction means of the control means, when the origin signal or distance measurement signal is a carrier signal or subcarrier signal of a radio signal, a band pass filter with less direct group delay distortion and delay error is used. Or after being demodulated by an analog demodulator with low delay error or a digital demodulator with low delay error using a high-frequency sampling signal. The mobile radio positioning apparatus according to claim 1 or 2, wherein reproduction is performed through the band-pass filter.
The control means includes at least a reference oscillator, a phase synchronous oscillator, a synchronization detection means, and a synchronous oscillation means, and the synchronous oscillation means converts the oscillation frequency of the reference oscillator to a high frequency by the phase synchronous oscillator. Driven by a counter with a set or reset or a numerically controlled oscillator, wherein the synchronization detecting means uses a sampling signal having a frequency of at least 128 MHz, and the rising point of the reproduced starting signal or distance measurement signal By detecting the timing of the falling point or the zero crossing and setting or resetting the synchronous oscillation means at the detected timing, the synchronous oscillation means can instantaneously and quickly And the origin signal or distance measurement signal is Sealed or even after the disappearance, the mobile radio positioning system corresponding to the first term or second term claims, characterized in that to hold the relatively long time period.
The phase measuring means of the control means digitally uses an analog-to-digital converter having a sampling frequency that is an integral multiple of 4 of the frequency of the reproduced starting point signal or distance measuring signal or the frequency of the generated synchronization signal and 4 bits or more. The signal is converted into a signal, 0, 1, 0, -1, or 1, 1, -1, -1, or a repetition thereof as the Sin lookup table, and 1, 0, -1 as the Cos lookup table , 0 or 1, -1, -1, 1, or a repetition of these, and performing a product-sum operation on the converted digital signal and a lookup table. A mobile radio positioning device that falls under.
The receiving means has quality detecting means for detecting the quality of the propagation path, and the quality detecting means measures the line quality from the result of measuring the power or signal-to-noise ratio of the received radio signal or high frequency signal in the receiving means. Or analyze the results of measuring the propagation time, propagation phase, or both of the distance measurement signal by the control means, or analyze both of them to correct the result of the positioning and complement it. The mobile radio positioning apparatus according to claim 1 or 2, wherein filtering is performed or a combination thereof is performed.
The mobile terminal, relay station, or both are provided with a plurality of antennas and periodically switched to measure the propagation time, propagation phase, or both of the distance measurement signals measured corresponding to the plurality of antennas. Of these results, a relatively small measured or calculated one is selected, averaged, weighted averaged, or a combination of these to correct, supplement, filter, or A mobile radio positioning apparatus corresponding to claim 1 or 2 characterized by combining these.
  The movement according to claim 1 or 2, wherein the frequency of the radio signal is a frequency assigned to GPS, a frequency in the vicinity thereof, a frequency determined by law, or a combination thereof. Wireless positioning device.

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