JP2014085168A - Position measurement system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a small-sized and inexpensive position measurement system simplifying a structure of each receiver, and saving electricity.SOLUTION: A position measurement system includes a receiving device 10 of a reference station, and three receiving devices 11 of observation stations installed on a tractor Ve. Concerning the receiving device 11 mounted on a cockpit of the observation stations, a relative position to the receiving device 10 is obtained. Each receiving device 11, 10 is equipped with a communicating portion 117 for transmitting received position measurement data to the receiving device 11 mounted on the cockpit. The receiving device 11 mounted on the cockpit can be connected with a personal computer 20 having a position measurement computing portion 2012 for calculating a relative measurement position of the receiving device 11 mounted on the cockpit to the receiving device 10 of the reference station from the position measurement data and a display portion 204 for displaying a computing result, through a connecting portion 118.

Description

  The present invention relates to a positioning system for relative positioning using a satellite navigation system (GNSS) such as GPS (Global Positioning System).

  Patent Document 1 describes a satellite navigation system that includes a reference receiver and a mobile receiver and measures the relative position of the mobile receiver with respect to the reference receiver. That is, a mobile receiver and a processor are provided, and the position coordinates of the antenna of the reference receiver and the position coordinates of the fixed survey location are supplied to the mobile receiver and processor. Non-Patent Document 1 describes a positioning system similar to the technique of Patent Document 1.

  On page 4 of Non-Patent Document 2, a virtual reference point method (VRS method) in the RTK-GPS system is described. In other words, the VRS system transmits approximate position information from a mobile station to a position information service provider (distribution provider) by a communication device, and the distribution provider corrects correction information (ionosphere) from an observation amount of a reference station around the mobile station.・ Determining tropospheric delay, satellite orbit error, etc.) and calculating phase data (correction data, etc.) that should be observed at the approximate position (virtual point). On the mobile station side, correction data or the like is received from a distribution provider by a communication device, and a position is obtained by performing RTK-GPS surveying. The server-type VRS system transmits the approximate location information of a mobile station to a distribution company via an analysis processing service provider (analysis processing company) by a communication device, and the correction data is calculated by the distribution company. Is transmitted to the analysis processor, and the analysis processor determines the position of the mobile station and sends it back to the mobile station.

Japanese Patent No. 2911363

http://www.nikon-trimble.co.jp/products/pdf/machinecontrol/ez_guide.pdf “Public survey work annual using network type RTK-GPS (draft)” Geographical Survey Institute of the Ministry of Land, Infrastructure, Transport and Tourism, Geospatial Information Authority of Japan A1-No.302, June 2005

  However, Patent Document 1 and Non-Patent Document 1 supply the position coordinates of the antenna of the reference receiver and the position coordinates of the fixed surveying location to the mobile receiver, and a processor is essential for each receiver. Accordingly, the configuration of each receiver is increased, and the cost is increased. Non-Patent Document 2 is a configuration in which approximate position information of a mobile station is transmitted to a distribution provider, correction data subjected to a predetermined calculation is obtained, this is transmitted again to the mobile station, and a positioning calculation is executed. Each mobile station must be provided with a processor (computer) that performs positioning calculation, and accordingly, the configuration of each receiver is increased in size and the cost is increased. Moreover, according to these structures, there also existed a problem of increase in power consumption resulting from the use of a CPU with high processing capability and an increase in the size of the device.

  An object of the present invention is to provide a compact and inexpensive positioning system by simplifying the configuration of each receiver.

  The present invention comprises a receiving device of a reference station and a receiving device of an observation station installed on the positioning target side, and positioning using an earth satellite navigation system for obtaining a relative position of the receiving device of the observation station with respect to the receiving device of the reference station In the system, each receiving device includes a wireless communication unit that transmits positioning data received by another receiving device to any one of the receiving device of the reference station and the receiving device of the observation station, The first receiving device calculates the relative position using the positioning data received by the first receiving device and the positioning data transmitted from the other receiving device via the wireless communication unit. It is connectable with an information processor having a calculation unit and a display unit for displaying calculation results, and the positioning data received by the first receiving device in response to a request from the information processor is transmitted. And positioning data came those having a connection unit that derives to the positioning calculation unit.

  The invention according to claim 8 is the positioning system according to any one of claims 1 to 7, wherein the positioning system is connected to the connection unit of the first receiving device and received by the first receiving device. The information processing device includes a positioning calculation unit that calculates the relative position using data and positioning data transmitted from the other receiving device, and a display unit that displays a calculation result.

  According to these inventions, the position of the observation station receiver relative to the reference station receiver can be obtained using the earth satellite navigation system. That is, each receiving device includes a wireless communication unit that transmits positioning data received by another receiving device to any one of the receiving device of the reference station and the receiving device of the observation station. Then, via this wireless communication unit, positioning data received by another receiving device is transmitted to one receiving device without being subjected to positioning calculation. On the other hand, one receiving apparatus can be connected to an information processing device via a connection unit. Therefore, in a state where the information processing device is connected, the positioning calculation unit in the information processing device fetches the positioning data of the first receiving device and the other receiving device, and the receiving device of the reference station and the first receiving device A relative position between the receiving devices is calculated. Therefore, it is not necessary to provide a positioning calculation program or the like that has a large software load in the receiving device, and the display unit of the information processor can also be used. Can also be planned.

  The positioning data input to the information processing device may be positioning data of at least one receiving device and a receiving device of the reference station. The relative position is a method in the calculation process, and the result is not limited to the relative position. For example, assuming that absolute position information is set for the reference station, the position information of the observation station is also obtained by the absolute position information. Even in this case, this absolute position information is obtained from the reference station. This is information obtained based on relative relationships. Further, a personal computer having versatility is preferable as the information processing machine.

  According to a second aspect of the present invention, in the positioning system according to the first aspect, the positioning target side is a moving body. According to this configuration, the position of the moving body from the reference position can be easily notified.

  According to a third aspect of the present invention, in the positioning system according to the first or second aspect, the receiving device of the observation station is provided at a plurality of locations of the moving body, and one of the receiving devices is the first receiving device, The wireless communication unit is configured to transmit each positioning data from another receiving apparatus except the one receiving apparatus to the first receiving apparatus. According to this configuration, positioning accuracy using a plurality of reference lines can be realized and the positioning accuracy can be improved without increasing the burden on the receiving device itself.

  According to a fourth aspect of the present invention, in the positioning system according to any one of the first to third aspects, the wireless communication unit provided in the first receiving device has a communication path with respect to the wireless communication units of the other receiving devices. It is characterized by instructing construction. According to this configuration, since the construction of the communication path is instructed from the wireless communication unit side of the first receiving device, the trouble of the transmission path (routing) can be saved, and even during use, due to a failure or the like It can also be applied when the transmission quality deteriorates.

  According to a fifth aspect of the present invention, in the positioning system according to any one of the first to fourth aspects, the receiving device includes a measurement unit that acquires environmental information, and the wireless communication unit performs measurement at each measurement unit. The result is transmitted to the one receiving device together with the positioning data. According to this configuration, by acquiring various environmental situations in addition to the relative positions, it is possible to provide a more accurate grasp of each arrangement position or the overall situation.

  A sixth aspect of the present invention is the positioning system according to any one of the first to fifth aspects, wherein the first receiving device returns information of the calculated relative position to the other receiving device. The other receiving device includes a display for displaying the returned information of the relative position. According to this configuration, the relative position information can be notified even by a receiving device that does not have a positioning calculation unit.

  The invention according to claim 7 is the positioning system according to any one of claims 1 to 6, wherein the positioning data includes C / A code data for each satellite and carrier phase data for each satellite. To do. According to this configuration, in the GPS positioning system, the receiving device can generate the positioning data by the hardware circuit.

  ADVANTAGE OF THE INVENTION According to this invention, the structure of each receiver can be simplified and power-saving, and a small and cheap positioning system can be provided.

1 is a schematic diagram of a positioning system according to the present invention. It is a block diagram which shows an example of the functional block of a receiver. It is a block diagram which shows one Embodiment of the functional block of a personal computer. It is a flowchart which shows the positional information setting process of the reference station performed by CPU of a personal computer. It is a flowchart of the reference station process performed by CPU of the receiving apparatus of a reference station. It is a flowchart of the observation station process performed by CPU of the receiver of the observation station which is not a coordinator. It is a flowchart which shows the setting process performed by CPU of the receiver which becomes a coordinator. It is a flowchart which shows the coordinator process performed by CPU of the receiver which becomes a coordinator. It is a flowchart of the personal computer process performed by CPU of a personal computer. It is the schematic of a positioning system in case a coordinator is a receiving device of a base station (reference station). It is a block diagram explaining the other monitor system to which a positioning system is applied.

  FIG. 1 is a schematic diagram of a positioning system according to the present invention. FIG. 2 is a configuration diagram illustrating an example of functional blocks of the receiving apparatus.

  In FIG. 1, Sat1, Sat2, Sat3,... Satn are positioning satellites, for example, GPS (Global Positioning System) satellites, orbiting the earth in a known orbit. The receiving devices 10 and 11 receive positioning radio waves broadcast from the positioning satellites Sat1 to Satn. The receiving device 10 is arranged at a predetermined fixed position, for example, on the ground, and the receiving device 11 is arranged at the observation station. The observation station to be arranged as an observation station is a mobile object, a displacement of a terrain representative of a landslide monitor of a slope such as a mountain, a deformation of a structure represented by a monitor of a deformation of a dam, etc. The target is considered. In the example shown in FIG. 1, the observation station is mounted on a mobile object. The receiving devices 10 and 11 generally perform positioning processing using broadcast radio waves from four GPS satellites.

  As is known, positioning satellites Sat1 to Satn transmit (broadcast) radio waves having different frequencies (L1, L2, L5, etc.). In this embodiment, a positioning process in the case of using an L1 wave (a 1575.42 MHz carrier) is described. The radio wave is composed of a carrier wave on which several positioning codes called codes are superimposed, and the L1 wave includes at least a C / A code as a positioning code, and also includes a navigation message including information on emerifest information, ionospheric delay and tropospheric delay. It is superimposed. With such a system, an RTK (Real Time kinematic) -GPS is constructed, and measurement at the millimeter (mm) unit level of the wavelength of the L1 wave of 19.03 cm or less is possible.

  Although the receiving apparatuses 10 and 11 are shown in different modes in FIG. 1 for convenience of explanation, they basically have the same configuration. First, the receiving apparatus 10 that is a fixed station will be described. The receiving device 10 includes a GPS antenna 1021. The GPS antenna 1021 receives broadcast radio waves from the GPS satellite Sat. The receiving device 10 obtains C / A code data and carrier phase data (positioning data) of each GPS satellite Sat from the radio wave received by the GPS antenna 1021 as described later. The receiving device 10 further includes a communication unit 107 for transmitting data described later with the receiving device 11 side. The communication unit 107 is preferably a wireless device. Similarly, the receiving device 11 includes a communication unit (not shown in FIG. 1).

  The receiving device 11 is mounted on a tractor Ve which is an example of a moving body of the present embodiment, for example, a large work vehicle. In the present embodiment, the receiving device 11 is provided at an appropriate position in the vicinity of the cockpit of the tractor Ve (or a central position of the vehicle, etc.) and an appropriate position on the left and right front wheels where the movement direction and posture (tilt, etc.) of the vehicle body greatly appear. A total of 3 units are attached.

  One of the three receivers 11, in this example, the receiver 11 mounted near the cockpit, functions as a coordinator described later. In FIG. 1, the arrangement of an information processing device, preferably a general-purpose personal computer (PC 20, see FIG. 2) for functioning as a coordinator is omitted. Further, in the aspect in which the receiving device 11 is mounted on the tractor Ve, the receiving device 10 is disposed at a position that serves as a reference for the work area of the tractor Ve, for example, at a predetermined corner of the area.

  In FIG. 2, the configuration and operation of the receiving device 11 will be described as an example. The receiving device 11 includes a GPS antenna 1121 and a GPS receiving unit 112 that acquires a predetermined digital data sequence from the received radio wave as described above, and further receives predetermined data from the data sequence acquired by the GPS receiving unit 112. An information processing unit 111 configured by a CPU (Central Processing Unit) or the like that acquires and performs various processes such as data storage and data transmission is provided.

  As is well known, the GPS receiving unit 112 converts the radio wave received by the GPS antenna 1121 into a predetermined intermediate frequency signal by a down converter and the like, amplifies it, samples it at a predetermined cycle by an AD converter or the like, and sequentially converts the digital data. By converting the data into a sequence, C / A code data composed of a pseudo random code is obtained. The GPS receiving unit 112 performs code demodulation in comparison with the C / A code unique to each GPS satellite Sat. The code demodulation process may be performed by the information processing unit 111 described later, or may be performed by the personal computer 20 side (a positioning calculation unit 2012 described later).

  In addition, the reception device 11 includes a memory unit 113 that stores various types of information for causing the information processing unit 111 to perform processing, a power source unit 114 including a secondary battery, and a positioning unit that has a simple display segment of a predetermined digit, for example. A display unit 115 for displaying information and the like as necessary, a communication unit 117 for transmitting data between the sensor group 116 for measuring various environmental situations and other receiving devices 11 and 10 as necessary. And its antenna 1171.

  The information processing unit 111 functions as a reception data processing unit 1111, an input / output processing unit 1112, and a network communication processing unit 1113 by executing a processing program stored in the program data memory unit 1131. The reception data processing unit 1111 captures and tracks a signal from each satellite Sat, and from the data string acquired by the GPS reception unit 112, the C / A code data (or demodulated C / A code of each satellite Sat). Data) and carrier phase data together with time information. The input / output processing unit 1112 temporarily stores the data sequence received by the GPS receiving unit 112 and the data processed by the received data processing unit 1111 in the GPS received data memory unit 1132.

  The network communication processing unit 1113 transmits the obtained C / A code data and carrier phase data of each satellite Sat together with their time information to the other receiving apparatuses 11 and 10 for a predetermined period, for example, every second, or other receiving apparatus 11. , 10 is processed.

  The network communication processing unit 1113 has different functions depending on whether or not the receiving device is a coordinator described later. Whether or not it is a coordinator may be a mode in which function setting is performed by switching an attached setting switch (not shown) or by an instruction from the personal computer 20 side.

  Various sensors can be mounted as the sensor group 116. For example, a thermometer, hygrometer, illuminometer, geomagnetism, posture, accelerometer, and acoustic sensor (microphone) are assumed, and an appropriate sensor is adopted according to the use environment. For example, in this embodiment, it is preferable to employ a thermometer, a hygrometer that measures temperature and humidity as a work environment, an inclinometer that knows the inclination of the tractor Ve, an accelerometer, and the like. The measurement result by the employed sensor is performed every predetermined time, and may be transmitted in accordance with the transmission of GPS data (positioning data) in the communication unit 117.

  In this embodiment, the network communication employs a mesh network, and performs signal transmission from the upstream side toward the downstream side along the set transmission path order (set routing). In this embodiment, the most downstream of the transmission path is a coordinator. For network communication, a mesh type, a tree type, a star type, a ring type, a mixed type (hybrid), etc. can be adopted, and a preferred network type corresponding to an aspect (application) to which this positioning system is applied. It is preferable to adopt. Details will be described later.

  In the above, when the receiving device is the receiving device 10 of the reference station, the network communication processing unit directs the C / A code data and the carrier phase data of each satellite Sat obtained by the reference station to the receiving device 11 serving as a coordinator. Transmit according to the order of the transmission paths. When the receiving device is not the coordinator, the network communication processing unit 1113 receives the C / A code data and carrier phase data of each satellite Sat obtained by the receiving device 11 and the upstream side. The C / A code data and carrier phase data of each satellite Sat from the receiving device 11 or 10 are transmitted to the receiving device 11 on the downstream side.

  When the receiving device is a coordinator, the network communication processing unit 1113 transmits the C / A code data and carrier phase data of each satellite Sat from the upstream receiving devices 11 and 10. Then, the input / output processing unit 1112 temporarily stores it in the GPS reception data memory unit 1132 together with the C / A code data and carrier phase data of each satellite Sat in its own receiving device 11. Alternatively, the receiving device 11 serving as a coordinator directly transmits its own data and data transmitted from the other receiving devices 11 and 10 to the personal computer 20 via a connection unit 118 formed of a USB (Universal Serial Bus) interface or the like. A mode of transmission may be used. Note that the receiving device serving as a coordinator is a device in which a personal computer 20 capable of executing a positioning calculation process described later is connected to the connection unit 118. Further, the network communication processing unit 1113 of the receiving device 11 serving as a coordinator receives an instruction from the connected personal computer 20 (or receives the connection of the personal computer 20), and executes the program in the program data memory unit 1131. Set the data transmission path in the mesh network.

  As will be described later, the display unit 115 receives a response of the positioning result calculated by the receiving device 11 serving as a coordinator, and simply displays the positioning result of the own receiving device 11 or 10.

  FIG. 3 is a block diagram showing an embodiment of a functional block of a personal computer. The personal computer 20 is a general-purpose computer, and includes an information processing unit 201 configured by a CPU. The information processing unit 201 includes a memory unit 202 that stores various data, an operation unit 203, and a display unit 204. And a connection unit 205 for connecting to the receiving device 11 is connected.

  In the present embodiment, the personal computer 20 is connected to the receiving device 11 in the vicinity of the cockpit of the tractor Ve via the connection unit 118. For example, the display unit 204 is oriented in a direction that the driver of the tractor Ve can visually recognize during the maneuvering. It may be pointed and fixed or semi-fixed, or handheld. The connection in the case of hand-held may be not only wired but also wireless for proximity communication. In the case of wireless, a coordinator may be set to allow communication.

  The information processing unit 201 executes a program stored in the program data memory unit 2021, thereby performing positioning calculation based on data input from the operation receiving unit 2011 and the connection unit 205 that receive operations from the outside. It functions as a calculation unit 2012 and an input / output processing unit 2013 that processes data input / output between the units.

  The operation accepting unit 2011 accepts an operation input from an operator (tractor operator) via the operation unit 203 or from a work manager before work. As the operation input, the administrator sets unique information for the receiving device to be used, instructs the setting of the data transmission path, connects to the receiving device 10 serving as the reference station, and sets the receiving device 10 as the reference station. Accordingly, it is assumed that the location information of the reference station is input and the operator is instructed to display information for confirming various information during the operation.

  The input / output processing unit 2013 processes input / output of various data between the memory unit 202, the operation unit 203, the display unit 204, the connection unit 205, and the information processing unit 201. In addition to GPS reception data, the input / output processing unit 2013 also captures environmental data of each of the receiving devices 11 and 10 measured by the sensor group as necessary, and temporarily stores the data in the sensor data memory unit 1133. .

  The positioning calculation unit 2012 inputs / outputs the C / A code data and the carrier phase data of each satellite Sat transmitted from the receiving device 11 as a coordinator connected to itself and at least from the receiving device 10 as a reference station. When the data is taken into the personal computer 20 by the unit 2013, the positioning calculation program stored in the program data memory unit 2021 observes the reference station based on the carrier phase data of each satellite and the carrier phase data of each satellite obtained from the reference station. Calculates the relative position of the station. The positioning calculation unit 2012 executes this positioning calculation process at a predetermined cycle. In this embodiment, the receiving device 11 is mounted on the tractor Ve in addition to the receiving device 11 serving as a coordinator, and the positioning data is acquired by the personal computer 20 of the coordinator. By performing relative positioning calculation using each reference line between the receiving device 10 of the reference station and another receiving device 11 other than the coordinator and using it for verification, the receiving device 10 of the coordinator and the receiving device 10 of the reference station The reliability of relative positioning calculation with can be improved. In the case of verification, it is preferable to set a distance relationship between the receiving devices mounted on the moving body in advance.

  The positioning calculation unit 2012 can replace the position of the receiving device 11 of the coordinator with an absolute reference (for example, latitude, longitude, height) in a mode in which the position data of the reference station is input in advance. On the other hand, when no position data is input, a relative position is obtained with reference to the arrangement position of the reference station, that is, the set corner of the work area of the tractor Ve. The display of the relative position may be expressed in three dimensions (X (east-west), Y (north-south), Z (height)) with respect to the GPS antenna 1021 of the receiving device of the reference station, or other expression methods such as Polar coordinates may be used.

  In this way, the receiving devices 11 and 10 do not have a positioning calculation processing unit that is mainly a software burden, and preferably a general-purpose personal computer 20 is connected to one receiving device in the positioning system. Since the positioning calculation processing program in the personal computer 20 is executed, each receiving device can be downsized and manufactured at low cost. For example, if the control area for landslide observation is relatively wide or very wide, the number of receiving devices may become enormous. However, as described above, the structure of the receiving device and the burden on the software are reduced. By reducing the cost, the overall cost can be greatly reduced.

  Next, the network communication processing unit 1113 will be described. In the present embodiment, ZigBee, which is a wireless communication protocol that operates on the IEEE802.15 / 4 convention, is employed. When the mesh type is adopted in ZigBee, a coordinator, a router, and an end device are connected to other communication units in a mesh shape, and a plurality of transmission paths can be constructed. The communication unit of each receiving device relays data like a bucket relay. Further, when a failure (failure or deterioration in transmission quality) occurs in a certain transmission path, this is detected and another communication path is generated, for example, a detour to secure a communication path.

  Here, the communication unit 117 and the network communication processing unit 1113 provided in the receiving device 11 and the communication unit and the network communication processing unit of the receiving device 10 of the reference station are one coordinator for collecting data and a predetermined upstream. The required number of end devices that transmit data downstream from the network (without the routing function) and transmit the data acquired by itself and downstream, and the required number of upstream and downstream, that is, the required number that can be set to change the transmission path. Identified as a router. The transmission path is set according to an instruction from the personal computer 20 connected to the coordinator receiving device, for example. In other words, using the unique information (MAC address) of the communication unit of each receiving device, in response to a routing setting instruction from the coordinator, a predetermined frame signal is transmitted and a transmission path (route) that maintains transmission quality is set. Is done. Specifically, in ZigBee, only one coordinator exists in the network and is activated first. Next, a network is constructed by connecting routers and end devices one after another to the parent device (the upstream communication unit in route setting). In the construction of a network, it is preferable to find and construct an optimum route using a mesh routing function. Data transmission to the coordinator is performed by sequentially transferring data frames in accordance with the registered contents of the routing table held by each communication unit, which is a parent-child route formed at the time of network construction. In addition, the calculation result from the coordinator may be sent in the reverse direction in the same manner, or may be separately routed.

  Also, if the observation station is mounted on a mobile unit, if it fails, or if it is used for a long period of time, there is no guarantee that the condition of the transmission path is constant. Accordingly, it is preferable to reset the transmission path.

  Subsequently, the processing will be described with reference to the flowcharts of FIGS. FIG. 4 is a flowchart showing the reference station location information setting process executed by the CPU of the personal computer 20. This position information setting process is executed as necessary. First, the receiving device 10 serving as a reference station is designated (step S1), and input of coordinates of a specific position in the work area is accepted (step S3). The coordinates may be local coordinates with respect to the work area in addition to absolute coordinates such as latitude and longitude. The input coordinate information is stored in, for example, the positioning data memory unit 2022 (step S5). In addition, when the coordinate input with respect to a reference station is not performed, positioning information is acquired as relative position information between the installation position of the receiving apparatus 10 and the position of an observation station.

  FIG. 5 is a flowchart of reference station processing executed by the CPU of the reference station receiver 10. First, a GPS signal reception process is instructed at predetermined intervals, and positioning data such as C / A code data and carrier phase data is acquired accordingly (step S11). Next, a sensor signal capturing process from the sensor group 116 is executed as necessary (step S13). The sensor signal capture does not need to be synchronized with the reception of the GPS signal, and may be captured at a specific period and stored in the sensor data memory unit 1133. Next, the positioning data and the sensor signal are transmitted to the receiving device 11 immediately upstream according to the setting routing.

  FIG. 6 is a flowchart of observation station processing executed by the CPU of the observation station receiver 11 that is not the coordinator. First, a GPS signal reception process is instructed at predetermined intervals, and positioning data such as C / A code data and carrier phase data is acquired accordingly (step S21). Next, a sensor signal capturing process from the sensor group 116 is executed as necessary (step S23). Subsequently, it is determined whether or not information is received according to the set routing (step S25).

  The received information is positioning data and sensor signals transmitted from the upstream receiving device. When information is received from the upstream receiving device, the positioning data and sensor signal acquired by itself and the positioning data and sensor signal received from the upstream receiving device are transmitted according to the set routing (step S27). . Here, the positioning data and the sensor signal received from the upstream receiving device are the positioning data and the sensor signal of all the upstream receiving devices along the routing as viewed from the own receiving device. . Each positioning data is linked to a receiving device (such as the MAC address of the communication unit) and transmitted as a frame. On the other hand, when there is no information received from the upstream side (for example, the most upstream), the positioning data and the sensor signal acquired by itself are transmitted according to the set routing (step S29).

  FIG. 7 is a flowchart showing a setting process executed by the CPU of the receiving apparatus 11 serving as a coordinator. First, the presence / absence of an instruction for routing setting is determined (step S41), and when there is an instruction, a predetermined routing setting process is executed (step S43).

  FIG. 8 is a flowchart showing a coordinator process executed by the CPU of the receiving device 11 serving as a coordinator. First, GPS signal reception processing is instructed at predetermined intervals, and positioning data such as C / A code data and carrier phase data is acquired accordingly (step S51). Next, a process for acquiring sensor signals from the sensor group 116 is executed (step S53). Then, the transmission request information is sent to the communication units of all receiving devices (step S55). Next, positioning data and sensor signals are received from all receiving devices according to the set routing (step S57). Subsequently, the transmission quality of the received transmission frame is monitored (step S59). If the transmission quality is good, the received data is output to the personal computer 20 for positioning calculation processing (step S61). On the other hand, if the transmission quality is poor (for example, positioning data is not transmitted from a part of the receiving device, the reception level is lowered due to power failure or other reasons, or signal interference, etc.), the routing is reset. And setting instructions such as channel switching in ZigBee are performed (step S63), and this flow is exited.

  FIG. 9 is a flowchart of personal computer processing executed by the CPU of the personal computer 20. First, it is determined whether information is received from the coordinator receiving device 11 (step S71). If not received, this flow is exited. On the other hand, if it has been received, the positioning calculation described above is executed (step S73). Next, the calculated position information is guided and displayed on the display unit 204 (step S75), and sensor information is guided and displayed on the display unit 204 (step S77).

  FIG. 10 is a schematic diagram of a positioning system when the coordinator is a receiving device of a base station (reference station). The positioning system of FIG. 10 is applied as a monitor system that monitors landslides, dam shapes, and the like. A plurality of receiving devices serving as observation stations are arranged at predetermined locations in the area to be monitored. The base station is installed outside or within the monitoring area according to the application. That is, in the case of landslide monitoring, since it is necessary to determine the relative position of each observation station with respect to a reference station without displacement, the reference station is installed outside the monitoring area. In the case of monitoring the change in the shape of a large structure such as a dam, the reference station may be installed at a predetermined position of the dam in addition to the outside of the dam structure.

  Each of the receiving apparatuses 11 and 10 preferably uses ZigBee as a wireless transmission means. Moreover, since each receiving device 11 and 10 is arrange | positioned on the slope of a mountain or each place of a dam, it is not easy to pull a power cable. Therefore, a renewable energy source, here a solar cell 1A, is mounted as a power source.

  The receiving device 10 of the base station functions as a coordinator, and receives positioning data and necessary sensor signals from the receiving devices of each observation station. The sensor signal can be used for predicting a change in the monitoring target area, or can be used for predicting and investigating an abnormal cause such as a failure. The personal computer 20 captures positioning data and necessary sensor signals from the receiving device 10 of the base station and the receiving device 11 of each observation station via the signal line 40 and the connection unit 205, and the position of each observation station with respect to the reference station over time. Monitor general displacement. The signal line 40 may be wired or wireless.

  FIG. 11 is a configuration diagram illustrating another monitor system to which the positioning system is applied. In FIG. 11, the personal computer 21 performs basically the same function as the personal computer 20, while the memory unit 212 includes a comparison table data memory unit 2124 described later, and the information processing unit 211 includes a management processing unit 2114. Yes. The receiving device 10 performs the same function as the receiving device 10 shown in the above-described embodiment. The plurality of receiving devices 11 serving as observation stations are different from the above-described embodiment in that they include a tag 11a. In addition, description of the part which performs the same function as the personal computer 20 in the personal computer 21 is abbreviate | omitted.

  The tag 11a is an example of a unique information generator and stores unique information as is well known. The tag 11a preferably receives a periodic power supply from the main body side (in this case, the receiving device 11) toward the main body side. Thus, the unique information is transmitted at a short distance, for example, as a radio wave via the antenna. The receiving device 11 includes a non-contact type power induction circuit that generates the transmission signal and a reception circuit that receives the transmission signal (both are known).

  This monitor system can be applied to a use such as managing each product when a large number of products are arranged. For example, when a lot of vehicles, such as hundreds or thousands, are waiting for export at the port, for example, which vehicles (with serial numbers) are exported to where It is necessary to carry out product management such as where to where the vehicle group (by serial number) is exported or at which port. In other words, the ships to be loaded are different or the loading order is determined. In this case, the receiving device 11 and the tag 11a are mounted in advance on each vehicle, and the vehicle position for each tag 11a is monitored. In the display unit 214, for example, each vehicle is represented by a simple vehicle mark, and the arranged vehicle mark, the serial number, and the management information (export destination, etc.) can be easily matched, or the display method is easy to visually recognize the relationship. Is adopted. For example, if the export destination is indicated, the management processing unit 2114 can easily change the corresponding vehicle mark on the screen.

  That is, the personal computer 21 prepares a comparison table in which the unique number of the tag 11a is associated with the manufacturing number of the vehicle on which the tag 11a is mounted in advance. By doing in this way, the position of each vehicle can be monitored via the receiver 11. Further, by making the production number and the export control data as a contrasting formula, it is possible to quickly and easily perform export control for each of a large number of vehicles.

  In the present embodiment, the data transmission between the receiving apparatuses 11 and 10 has been described with the example of ZigBee, but the present invention is not limited to this, and an appropriate method can be adopted depending on the use of the positioning system, and multi-hop. It is not limited to an expression (ad hoc).

  Moreover, although the tractor was shown as a moving body in this embodiment, it is not restricted to this, For example, the large dredger for harbor dredging construction may be sufficient. In this case, the reference station may be a specific location on the port side.

  Further, although the present embodiment has been described with respect to the GPS satellite navigation system, the present invention is not limited to this, and a satellite navigation system (Gloval Navigation Satellite System) such as GALILEO in Europe and GLONASS in Russia can be employed.

  In this embodiment, a differential method (DGPS) may be used for calculating the relative position.

10, 11 Receiver 111 Information processor 1111 Received data processor 1113 Network communication processor 112 GPS receiver 115 Display 116 Sensor group 117 Communication unit 118 Connection unit 20, 21 Personal computer 201, 211 Information processor 2012, 2112 Positioning calculation Units 204 and 214 Display units 205 and 215 Connection unit

Claims (8)

In the positioning system using the earth satellite navigation system for obtaining the relative position of the receiving device of the observation station with respect to the receiving device of the reference station, comprising the receiving device of the reference station and the receiving device of the observation station installed on the positioning target side,
Each receiving device includes a wireless communication unit that transmits positioning data received by another receiving device to any one of the receiving device of the reference station and the receiving device of the observation station,
The first receiving device calculates the relative position using the positioning data received by the first receiving device and the positioning data transmitted from the other receiving device via the wireless communication unit. The information processing device having a calculation unit and a display unit for displaying the calculation result is connectable, and the positioning data received by the first receiving device in response to a request from the information processing device has been transmitted. A positioning system comprising a connection unit for deriving positioning data to the positioning calculation unit. The positioning system according to claim 1, wherein the positioning target side is a moving body. Observation station reception devices are provided at a plurality of locations of the mobile body, one of which is the first reception device, and the wireless communication unit is connected to the first reception device other than the first reception device from the first reception device. The positioning system according to claim 1 or 2, wherein each positioning data is transmitted to a receiving device. The wireless communication unit provided in the first reception device instructs the wireless communication unit of another reception device to establish a communication path. Positioning system. The said receiving apparatus is provided with the measurement part which acquires environmental information, The said wireless communication part transmits the measurement result in each measuring part to said 1 receiving apparatus with the said positioning data. The positioning system in any one of -4. The first receiving device returns the calculated relative position information to the other receiving device, and the other receiving device includes a display for displaying the returned relative position information. The positioning system according to any one of claims 1 to 5, wherein the positioning system is provided. The positioning system according to claim 1, wherein the positioning data includes C / A code data for each satellite and carrier phase data for each satellite. Positioning that is connected to the connection unit of the first receiving device and calculates the relative position using positioning data received by the first receiving device and positioning data transmitted from the other receiving device. The positioning system according to any one of claims 1 to 7, further comprising: an information processing unit having a calculation unit and a display unit for displaying a calculation result.