JP2015001426A - Positioning reinforcement device, positioning reinforcement system, and positioning reinforcement method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce a data amount of positioning reinforcement information.SOLUTION: A positioning reinforcement device 130 is a device for providing positioning reinforcement information for every region to correct an error of a positioning signal. The positioning reinforcement device 130 generates the positioning reinforcement information in an individual area on the basis of a result of having observed the positioning signal in the individual area which is one of a plurality of areas. The positioning reinforcement device 130 provides the positioning reinforcement information in the individual area after a portion of the generated positioning reinforcement information is communized to a portion of the positioning reinforcement information in a reference area which is one area other than the individual area among the plurality of areas.

Description

  The present invention relates to a positioning reinforcing device, a positioning reinforcing system, and a positioning reinforcing method. The present invention relates to a positioning reinforcement device capable of overcoming the capacity band limitation of satellite communication by, for example, integrating positioning reinforcement information generated for each service area and expanding the service area without degrading positioning accuracy.

  In a positioning reinforcement system that improves positioning accuracy by GNSS (Global Navigation, Satellite, System), in order to generate positioning reinforcement information effective in a wider service area, a base station or an electronic reference that receives GNSS observation data It is necessary to arrange the points in a wider range while maintaining the same interval (density). However, with the expansion of the service area, the number of electronic reference points also increases, and there is a problem that the load in the calculation processing (Kalman filter or the like) for generating positioning reinforcement information increases dramatically, making real-time processing on the server difficult. . Therefore, in a service using a mobile phone network that is currently mainstream, the service area is divided, and positioning reinforcement information is generated and distributed for each service area. For example, in order to cover the whole of Japan, the whole country of Japan is divided into about 12 regional networks, and reinforcement information is generated and distributed for each network.

  In the future, positioning reinforcement systems using satellite communications are expected to become widespread (see, for example, Patent Document 1).

JP 2013-1010113 A

  In a positioning augmentation system that uses satellite communication, there is a limitation on communication capacity. If the reinforcing information generated for each service area is combined and distributed as it is, the data volume of the reinforcing information to be distributed is enormous and cannot be distributed, which causes a problem that the requested service area cannot be covered.

  An object of the present invention is, for example, to reduce the data amount of positioning reinforcement information.

A positioning reinforcement device according to one aspect of the present invention is as follows.
A positioning reinforcement device that provides positioning reinforcement information for each region for correcting an error in a positioning signal from a positioning satellite, and results from observing the positioning signal in an individual region that is one of a plurality of regions. And generating a portion of the positioning reinforcement information in the individual area and sharing a part of the generated positioning reinforcement information with a part of the positioning reinforcement information in the reference area which is one area other than the individual area among the plurality of areas. In addition, the positioning reinforcement information in the individual area is provided.

  According to one aspect of the present invention, it is possible to reduce the data amount of positioning reinforcement information by sharing a part of positioning reinforcement information between regions.

FIG. 2 is a block diagram illustrating a configuration of a positioning reinforcement system according to the first embodiment. The map which shows the example which divided Japan into several regions in order to generate positioning reinforcement information according to region. FIG. 2 is a block diagram illustrating a configuration of a positioning reinforcement device according to the first embodiment. 5 is a flowchart showing an example of the operation of the positioning reinforcement device according to the first embodiment. The table | surface which shows the result of having verified operation | movement of the positioning reinforcement apparatus which concerns on Embodiment 1. FIG. FIG. 3 is a diagram illustrating an example of a hardware configuration of the positioning reinforcement device according to the first embodiment.

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

Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of a positioning reinforcement system 100 according to the present embodiment.

  In FIG. 1, the positioning reinforcement system 100 uses a positioning satellite 200.

  The positioning satellite 200 is an artificial satellite that periodically transmits positioning signals (signals such as L1 and L2) used for positioning. The plurality of positioning satellites 200 constitute the GNSS described above. GPS (Global Positioning System) and GLONASS (Global Navigation Satellite System) are examples of GNSS.

  The positioning augmentation system 100 includes a quasi-zenith satellite 110, an electronic reference point network 120, a positioning augmentation device 130, a master control station 140, a tracking control station 150, and a monitor station 160.

  The quasi-zenith satellite 110 is an artificial satellite that flies over Japan and also functions as a positioning satellite. A plurality of quasi-zenith satellites 110 constitute a quasi-zenith satellite system. In the quasi-zenith satellite system, each quasi-zenith satellite 110 flies in a predetermined “8” -shaped quasi-zenith orbit so that one quasi-zenith satellite 110 is always located above Japan.

  The quasi-zenith satellite 110 periodically transmits a positioning signal and a LEX signal. Since the quasi-zenith satellite 110 exists in a high elevation direction when viewed from various parts of Japan, the positioning signal and the LEX signal transmitted from the quasi-zenith satellite 110 are rarely shielded by a building or the like.

  The LEX signal is a signal transmitted from the quasi-zenith satellite 110 at a predetermined frequency (1277.85 MHz) in the L band. In the present embodiment, the quasi-zenith satellite 110 transmits positioning reinforcement information for correcting the error of the positioning signal on the LEX signal. The positioning reinforcement information may be transmitted as a signal having a frequency different from that of the LEX signal.

  The error of the positioning signal is, for example, the satellite clock error of the positioning satellite 200, the satellite orbit error of the positioning satellite 200, the tropospheric delay error of the positioning signal, the ionospheric delay error of the positioning signal, the code bias of the positioning signal, and the phase bias of the positioning signal. That is.

  The electronic reference point network 120 is composed of a plurality of electronic reference points arranged throughout Japan. Each electronic reference point receives a positioning signal from the positioning satellite 200 or the quasi-zenith satellite 110 and generates observation data (for example, pseudorange) of the positioning signal.

  The positioning reinforcement device 130 is a device that provides location-specific positioning reinforcement information for correcting an error in the positioning signal.

  In the present embodiment, positioning reinforcement device 130 generates positioning reinforcement information in an individual area based on a result of observing a positioning signal in an individual area that is one area among a plurality of areas. The positioning reinforcement device 130 shares a part of the generated positioning reinforcement information with a part of the positioning reinforcement information in the reference area which is one area other than the individual area among the plurality of areas, and then in the individual area. Provide positioning reinforcement information.

  Specifically, the positioning reinforcement device 130 acquires observation data generated by each electronic reference point of the electronic reference point network 120. The positioning reinforcement device 130 calculates the coordinate value of each electronic reference point by navigation processing from the acquired observation data, and performs positioning based on the difference between the calculated coordinate value of each electronic reference point and the coordinate value of the known electronic reference point. Generate reinforcement information. Since the error of the positioning signal differs depending on the area, the positioning reinforcement device 130 generates positioning reinforcement information for each area where each electronic reference point is arranged. At this time, the positioning reinforcement device 130 shares part of the positioning reinforcement information between regions. That is, in the present embodiment, the positioning reinforcement device 130 provides the positioning reinforcement information for each region after sharing a part of the positioning reinforcement information between the regions. Thereby, it becomes possible to reduce the data amount of positioning reinforcement information.

  The master control station 140 transmits the positioning reinforcement information and the navigation message generated by the positioning reinforcement device 130 from the tracking control station 150 to the quasi-zenith satellite 110.

  The quasi-zenith satellite 110 transmits a positioning signal including the navigation message received from the tracking control station 150 and a LEX signal including the positioning reinforcement information received from the tracking control station 150 to the positioning terminal 300.

  The monitor station 160 receives a positioning signal from the positioning satellite 200 or the quasi-zenith satellite 110 and generates observation data of the positioning signal.

  The master control station 140 collects positioning signal observation data from the monitor station 160.

  The positioning reinforcement system 100 is used by the positioning terminal 300.

  The positioning terminal 300 (for example, a portable terminal or an in-vehicle device) receives a positioning signal from the positioning satellite 200 or the quasi-zenith satellite 110 and generates observation data of the positioning signal. In addition, the positioning terminal 300 receives a LEX signal from the quasi-zenith satellite 110. The positioning terminal 300 corrects the generated observation data of the positioning signal based on the positioning reinforcement information included in the LEX signal. The positioning terminal 300 locates the current position using the corrected observation data of the positioning signal. In this way, by correcting the observation data of the positioning signal based on the positioning reinforcement information, the position of the positioning terminal 300 can be determined with centimeter-class accuracy (error is less than 1 meter).

  FIG. 2 is a map showing an example in which Japan is divided into a plurality of regions in order to generate positioning reinforcement information by region.

  As shown in FIG. 2, assuming that Japan is divided into 12 regions, the positioning reinforcement device 130 observes positioning signals from electronic reference points installed in each of the regions “1” to “12” (observation) Data). The positioning reinforcement device 130 generates positioning reinforcement information in each of the areas “1” to “12” based on the acquired result. Assuming that the area of “1” corresponding to the western part of Hokkaido is a reference area, the positioning reinforcement device 130 uses a part of the positioning reinforcement information in each of the areas “2” to “12” for positioning reinforcement in the area “1”. After sharing with a part of the information, positioning reinforcement information in each of the areas “1” to “12” is provided. In this example, each of the areas “1” to “12” corresponds to the individual area described above. Note that the area “1” is the reference area, but another area (for example, the area “5” corresponding to the Tokyo metropolitan area) may be the reference area.

  The quasi-zenith satellite 110 distributes the positioning reinforcement information in each of the areas “1” to “12” provided from the positioning reinforcement device 130 on the LEX signal.

  FIG. 3 is a block diagram illustrating a configuration of the positioning reinforcing device 130.

  In FIG. 3, the positioning reinforcement device 130 includes a correction amount calculation unit 131, a correction amount input unit 132, a difference calculation unit 133, a correction amount adjustment unit 134, and a positioning reinforcement information provision unit 135.

  Although not shown, the positioning reinforcement device 130 includes hardware such as a processing device, a storage device, and a communication device. The hardware is used by each part of the positioning reinforcement device 130. For example, the processing device is used to perform calculation, processing, reading, writing, and the like of data and information in each unit of the positioning reinforcement device 130. The storage device is used to store the data and information. The communication device is used to transmit and receive the data and information.

  The correction amount calculation unit 131 calculates a correction amount for each type of error in the positioning signal in the individual area based on the result of observing the positioning signal in the individual area. For example, the correction amount calculation unit 131 uses the observation data obtained by observing the positioning signal from the positioning satellite 200 at the electronic reference points installed in the areas “1” to “12” shown in FIG. get. Based on the acquired observation data, the correction amount calculation unit 131 includes a satellite clock error CLK (# 1 to # 12), a satellite orbit error ORB (# 1 to # 12) in each of the areas “1” to “12”, The tropospheric delay error TROP (# 1 to # 12), ionospheric delay error ION (# 1 to # 12), etc. (correction amount thereof) are calculated.

  The correction amount input unit 132 inputs a correction amount of a first error that is one type of errors among a plurality of types of errors in the reference area. For example, the correction amount input unit 132 inputs the satellite orbit error ORB (# 1) in the region “1” calculated by the correction amount calculation unit 131.

  The difference calculation unit 133 calculates a difference between the correction amount of the first error in the individual area calculated by the correction amount calculation unit 131 and the correction amount of the first error in the reference area input by the correction amount input unit 132. . For example, the difference calculation unit 133 calculates the satellite orbit in the region “1” input by the correction amount input unit 132 from the satellite orbit error ORB (# 2) in the region “2” calculated by the correction amount calculation unit 131. The difference ΔORB (# 2) is obtained by subtracting the error ORB (# 1).

  The correction amount adjustment unit 134 is one type of error other than the first error among the plurality of types of errors in the individual area calculated by the correction amount calculation unit 131 according to the difference calculated by the difference calculation unit 133. The correction amount of the second error is adjusted. For example, the correction amount adjustment unit 134 adds the difference ΔORB (# 2) obtained by the difference calculation unit 133 to the satellite clock error CLK (# 2) in the region “2” calculated by the correction amount calculation unit 131. The result of the addition is defined as a satellite clock error CLK (# 2) ′ in the region “2”.

  The positioning reinforcement information providing unit 135 includes a correction amount of the first error in the reference area input by the correction amount input unit 132, a correction amount of the second error in the individual area adjusted by the correction amount adjustment unit 134, and a correction amount. The positioning reinforcement information indicating the correction amount of the error other than the first error and the second error among the plurality of types of errors in the individual area calculated by the calculation unit 131 is provided as the positioning reinforcement information in the individual area. For example, the positioning reinforcement information providing unit 135 receives the satellite orbit error ORB (# 1) in the region “1” input by the correction amount input unit 132 and the satellite in the region “2” adjusted by the correction amount adjustment unit 134. Positioning reinforcement information indicating the clock error CLK (# 2) ′, the tropospheric delay error TROP (# 2), the ionospheric delay error ION (# 2), etc. in the region “2” calculated by the correction amount calculation unit 131 is “ It is provided as positioning reinforcement information in the area of “2”.

  Below, the specific example of operation | movement (positioning reinforcement method which concerns on this Embodiment) of the positioning reinforcement apparatus 130 is demonstrated.

  Positioning reinforcement information for each service area (for example, areas “1” to “12” shown in FIG. 2) (high-speed correction information with fast time fluctuations caused by satellite clocks, satellite orbit, satellite signal bias, troposphere, ionosphere, etc.) The low-speed correction information (gradual variation in time) may have a different estimated value for each area (network). The positioning reinforcement device 130 reduces the data amount of the positioning reinforcement information by sharing the items that can be shared in consideration of the temporal behavior of each error factor. By sharing the difference, the difference information is generated from the original value as the reinforcement information of each region. The difference is canceled by superimposing it on reinforcement information of other error factors that are not shared.

  In this example, the positioning reinforcement device 130 shares the satellite signal bias and the satellite orbit error, which have a slow temporal fluctuation, between service areas. By sharing the difference, the difference value is assigned to the ionospheric delay and satellite clock error in each area. With this algorithm, the consistency and accuracy of the reinforcement information to be distributed can be maintained, and further, the amount of data to be distributed can be reduced.

The GPS reinforcement information is expressed by decomposing for each error factor as follows.
C1PRC (# 1) = − CLK (# 1) + ORB (# 1) + TROP (# 1) + f ₂ / f ₁ {ION (# 1)} + C1bias (# 1)
P2PRC (# 1) = − CLK (# 1) + ORB (# 1) + TROP (# 1) + f ₁ / f ₂ {ION (# 1)} + P2bias (# 1)
L1CPC (# 1) = − CLK (# 1) + ORB (# 1) + TROP (# 1) −f ₂ / f ₁ {ION (# 1)} + L1bias (# 1)
L2CPC (# 1) = − CLK (# 1) + ORB (# 1) + TROP (# 1) −f ₁ / f ₂ {ION (# 1)} + L2bias (# 1)

  Here, # 1 represents a positioning evaluation point existing in area 1.

  C1PRC (# 1) is the pseudo distance correction amount of the L1 band C / A code in area 1. P2PRC (# 1) is the pseudo distance correction amount of the L2 band P code in area 1. L1CPC (# 1) is a carrier phase correction amount in the L1 band in area 1. L2CPC (# 1) is a carrier phase correction amount in the L2 band in area 1.

f ₁ = 154 and f ₂ = 120.

  CLK (# 1) is a satellite clock error in area 1. ORB (# 1) is a satellite orbit error in area 1. TROP (# 1) is a tropospheric delay error in area 1. ION (# 1) is the ionospheric delay error in area 1. C1bias (# 1) is a C / A code bias in area 1. P2bias (# 1) is a P2 code bias in area 1. L1bias (# 1) is the L1 phase bias in area 1. L2bias (# 1) is an L2 phase bias in area 1.

  In the following, an algorithm for sharing a part of positioning reinforcement information between areas will be described by taking the sharing of area 1 and area 2 as an example. The algorithm can be applied.

  FIG. 4 is a flowchart showing an example of the operation of the positioning reinforcement device 130.

  In step S11, the correction amount calculation unit 131 adjusts the ambiguity level.

When reinforcing information is generated in different reference point configurations (areas), the estimated ambiguity level (uncertain part of the wave number of the carrier phase) may be different in each area due to the difference in the reference point configuration. At this time, a difference of an integral multiple of the wavelength occurs in the carrier phase correction amount between the areas. Therefore, the correction amount calculation unit 131 calculates the difference in the carrier phase correction amount at an evaluation point existing near the area boundary with respect to the carrier phase correction amount that can be generated from each area. The difference in the L1 band carrier phase correction amount between area 1 and area 2 is
L1CPC (# 1) -L1CPC (# 2) = N + noise
It becomes. Here, N represents a difference in ambiguity, and noise represents a noise component.

Next, the correction amount calculation unit 131 adds the ambiguity difference to the L1 phase bias in area 2.
L1bias (# 2) ′ = L1bias (# 2) + N

That is, the carrier phase correction amount in the L1 band in area 2 is
L1CPC (# 2) = − CLK (# 2) + ORB (# 2) + TROP (# 1) −f ₂ / f ₁ {ION (# 2)} + L1bias (# 2) ′
It becomes. However, hereinafter, L1bias (# 2) ′ is simply referred to as L1bias (# 2).

  Similarly, the correction amount calculation unit 131 adds the difference in the ambiguity of the L2 band carrier phase correction amount between the area 1 and the area 2 to the L2 phase bias in the area 2.

  The ambiguity level can be adjusted by the above processing.

  In step S12, the difference calculation unit 133 shares the satellite signal bias between the areas.

The difference calculation unit 133 uses the difference ΔL1 in the phase bias between L1 and L2 between area 1 and area 2 in order to share the value of the phase bias (signal bias) of L1 and L2 in area 2 with the value of area 1. # 2) and ΔL2 (# 2) are calculated.
ΔL1 (# 2) = L1bias (# 2) −L1bias (# 2)
ΔL2 (# 2) = L2bias (# 2) −L2bias (# 2)

  Note that the code bias (C1bias, P2bias) may be slightly different from the estimated value for each area, but may be fixed to the value of area 1 for the required ranging accuracy.

  In step S13, the difference calculation unit 133 shares the satellite orbit error between the areas.

When the difference calculation unit 133 replaces the satellite orbit error vector (ε _r , ε _a , ε _c ) estimated in area 2 with the value estimated in area 1 with the satellite orbit error vector of area 1 The difference ΔORB of the values of the gaze direction satellite orbit errors in the grid is calculated, and the difference average value ΔORB (# 2) of the grid points in the area 2 is calculated.

  In step S14, the correction amount adjustment unit 134 corrects the satellite clock correction term (satellite clock error) and the ionosphere delay correction term (ionosphere delay error).

The correction amount adjustment unit 134 calculates the adjustment value ΔL0 (# 2) of the satellite clock correction term from the difference calculated in step S12, and is an area to be integrated together with the difference average value calculated in step S13. Add to the area 2 satellite clock correction term.
ΔL0 (# 2) = {f ₁ ² / (f ₁ ² −f ₂ ² )} ΔL 1 (# 2) − {f ₂ ² / (f ₁ ² −f ₂ ² )} ΔL 2 (# 2)
CLK (# 2) ′ = CLK (# 2) + ΔL0 (# 2) + ΔORB (# 2)

Further, the correction amount adjustment unit 134 adjusts the ionospheric delay correction term of area 2 according to the difference calculated in step S12.
ION (# 2) ′ = ION (# 2) + {ΔL1 (# 2) −ΔL2 (# 2)} / (f ₂ / f ₁ −f ₁ / f ₂ )

  With the above processing, it is possible to take consistency of positioning reinforcement information.

Through the processing in steps S11 to S14, the L1 band C / A code pseudo distance correction amount C1PRC (# 2), the L2 band P code pseudo distance correction amount P2PRC (# 2), and the L1 band carrier wave in the area 2 to be integrated Calculation of the phase correction amount L1CPC (# 2) and the L2 band carrier phase correction amount L2CPC (# 2) is as follows.
C1PRC (# 2) = − {CLK (# 2) + ΔL0 (# 2) + ΔORB (# 2)} + ORB (# 1) + TROP (# 2) + f ₂ / f ₁ [ION (# 2) + {ΔL1 (# _{2) -ΔL2 (# 2)}} / (f 2 / f 1 -f 1 / f 2)] + C1bias (# 1)
P2PRC (# 2) = − {CLK (# 2) + ΔL0 (# 2) + ΔORB (# 2)} + ORB (# 1) + TROP (# 2) + f ₁ / f ₂ [ION (# 2) + {ΔL1 (# _{2) -ΔL2 (# 2)}} / (f 2 / f 1 -f 1 / f 2)] + P2bias (# 1)
L1CPC (# 2) = − {CLK (# 2) + ΔL0 (# 2) + ΔORB (# 2)} + ORB (# 1) + TROP (# 2) −f ₂ / f ₁ [ION (# 2) + {ΔL1 ( _{# 2) -ΔL2 (# 2)} } / (f 2 / f 1 -f 1 / f 2)] + L1bias (# 1)
L2CPC (# 2) = − {CLK (# 2) + ΔL0 (# 2) + ΔORB (# 2)} + ORB (# 1) + TROP (# 2) −f ₁ / f ₂ [ION (# 2) + {ΔL1 ( _{# 2) -ΔL2 (# 2)} } / (f 2 / f 1 -f 1 / f 2)] + L2bias (# 1)

  The calculation of the pseudo distance correction amounts C1PRC (# 2) and P2PRC (# 2) does not require the high accuracy required for the calculation of the pseudo distance correction amounts C1PRC (# 2) and P2PRC (# 2). Therefore, here, the satellite clock correction term and the ionospheric delay correction term used for the calculation of the carrier phase correction amounts L1CPC (# 2) and L2CPC (# 2) are changed to the pseudorange correction amounts C1PRC (# 2) and P2PRC (# It is used as it is in the calculation of 2). Thereby, the data amount can be further reduced.

  In step S15, the positioning reinforcement information providing unit 135 uses the satellite clock error CLK (# 1), the satellite orbit error ORB (# 1), and the tropospheric delay error TROP (#) in the area 1 as the positioning reinforcement information of the area 1 serving as a reference. 1), ionospheric delay error ION (# 1), C / A code bias C1bias (# 1), P2 code bias P2bias (# 1), L1 phase bias L1bias (# 1), L2 phase bias L2bias (# 1) provide.

  In addition, the positioning reinforcement information providing unit 135 includes satellite clock error CLK (# 2) ′, troposphere delay error TROP (# 2), ionosphere delay error ION (# 2) in area 2 as the positioning reinforcement information of area 2 to be integrated. )'I will provide a. The positioning reinforcement information providing unit 135 includes satellite orbit error ORB (# 2), C / A code bias C1bias (# 2), P2 code bias P2bias (# 2), L1 phase bias L1bias (# 2), and L2 in area 2. There is no need to provide the phase bias L2bias (# 2). For this reason, it becomes possible to reduce the data amount of positioning reinforcement information.

  FIG. 5 is a table showing the results of verifying the operation of the positioning reinforcement device 130.

  The verified area is as shown in FIG. For this verification, the Shikoku network was divided into the east side and the west side while overlapping the reference points constituting the area.

  The data used is as shown in FIG.

  The reference points used for the correction amount comparison are as shown in FIG. This reference point was selected from points included in the overlapping area of area 1 and area 2 used this time.

  Using the above data, area 2 is integrated into area 1. That is, a part of the positioning reinforcement information for area 2 is shared with a part of the positioning reinforcement information for area 1. Positioning was performed using the carrier phase correction amount CPC and pseudo distance correction amount PRC obtained after area integration, and the positioning rate was confirmed.

  The verification result is as shown in FIG. Here, as an example of verification, the average, variance, and standard deviation of the correction amount of PRN3 in area 1 and area 2 before and after area integration are shown.

  The average, variance, and standard deviation of the positioning error are as shown in FIG.

  The FIX rate is as shown in FIG.

  Looking at each error value of the positioning result, it is a difference in the order of millimeters, and there is no problem in the centimeter class positioning.

  FIG. 6 is a diagram illustrating an example of a hardware configuration of the positioning reinforcement device 130.

  In FIG. 6, the positioning reinforcement device 130 is a computer and includes a CPU 911 (Central Processing Unit) that executes a program. The CPU 911 is an example of a processing device. The CPU 911 is connected to the ROM 913 (Read / Only / Memory), the RAM 914 (Random / Access / Memory), the communication board 915, and the HDD 920 (Hard / Disk / Drive) via the bus 912, and controls these hardware devices. . Instead of the HDD 920, a flash memory or other recording medium may be used.

  The RAM 914 is an example of a volatile memory. The ROM 913 is an example of a nonvolatile memory. These are examples of the storage device. The communication board 915 is an example of a communication device.

  The communication board 915 is connected to a LAN (Local / Area / Network) or the like. The communication board 915 is not limited to a LAN, and may be connected to a WAN (Wide / Area / Network) or the Internet. LAN, WAN, and the Internet are examples of networks.

  The HDD 920 stores an operating system 921 (OS), a program group 922, and a file group 923. The program group 922 includes programs that execute the functions described as “unit” in the description of the embodiment of the present invention. The program is read and executed by the CPU 911. The file group 923 includes data and information described as “˜data”, “˜information”, “˜ID (identifier)”, “˜flag”, “˜result” in the description of the embodiment of the present invention. Signal values, variable values, and parameters are included. Data, information, signal values, variable values, and parameters are read by the CPU 911 and used for processing (operation) of the CPU 911.

  In the description of the embodiments of the present invention, what is described as “to part” may be “to circuit”, “to device”, and “to device”, and “to step” and “to process”. , “˜procedure”, and “˜processing”. What is described as “˜unit” is realized by software alone, hardware alone, or a combination of software and hardware. Software is stored in a recording medium as a program. The program is read by the CPU 911 and executed by the CPU 911. That is, the program causes the computer to function as “to part” described in the description of the embodiment of the present invention. Or a program makes a computer perform the procedure and method of "-part" described by description of embodiment of this invention.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to this embodiment, A various change is possible as needed.

  100 positioning reinforcement system, 110 quasi-zenith satellite, 120 electronic reference point network, 130 positioning reinforcement device, 140 master control station, 150 tracking control station, 160 monitor station, 200 positioning satellite, 300 positioning terminal, 911 CPU, 912 bus, 913 ROM, 914 RAM, 915 communication board, 920 HDD, 921 operating system, 922 program group, 923 file group.

Claims (6)

  A positioning reinforcement device that provides positioning reinforcement information for each region for correcting an error in a positioning signal from a positioning satellite, and results from observing the positioning signal in an individual region that is one of a plurality of regions. And generating a portion of the positioning reinforcement information in the individual area and sharing a part of the generated positioning reinforcement information with a part of the positioning reinforcement information in the reference area which is one area other than the individual area among the plurality of areas. And a positioning reinforcement device for providing positioning reinforcement information in the individual area. Based on the result of observation of the positioning signal in the individual area, a correction amount calculation unit that calculates a correction amount for each type of error of the positioning signal in the individual area;
A correction amount input unit for inputting a correction amount of a first error that is one type of errors among a plurality of types of errors in the reference area;
Difference calculation for calculating a difference between the correction amount of the first error in the individual area calculated by the correction amount calculation unit and the correction amount of the first error in the reference area input by the correction amount input unit. And
Correction of a second error that is one type of error other than the first error among the plurality of types of errors in the individual area calculated by the correction amount calculation unit according to the difference calculated by the difference calculation unit. A correction amount adjustment unit for adjusting the amount,
The correction amount of the first error in the reference area input by the correction amount input unit, the correction amount of the second error in the individual area adjusted by the correction amount adjustment unit, and the correction amount calculation unit Positioning reinforcement information that provides positioning reinforcement information indicating the correction amount of the error other than the first error and the second error among the plurality of types of errors in the calculated individual area as positioning reinforcement information in the individual area The positioning reinforcing device according to claim 1, further comprising an information providing unit.   At least the satellite clock error of the positioning satellite, the satellite orbit error of the positioning satellite, the tropospheric delay error of the positioning signal, and the ionospheric delay error of the positioning signal are the plurality of types of errors, and the satellite orbit error is the first error. The positioning reinforcing device according to claim 2, wherein the satellite clock error is the second error.   At least the satellite clock error of the positioning satellite, the satellite orbit error of the positioning satellite, the tropospheric delay error of the positioning signal, the ionospheric delay error of the positioning signal, and the phase bias of the positioning signal are the plurality of types of errors, and the satellite The positioning reinforcing apparatus according to claim 2, wherein an orbit error and the phase bias are used as the first error, and the satellite clock error and the ionospheric delay error are used as the second error. A positioning reinforcing device according to claim 1;
A plurality of electronic reference points installed in each of the plurality of regions and observing the positioning signal;
The positioning reinforcement device acquires a result of observing the positioning signal from each of the plurality of electronic reference points, and generates positioning reinforcement information in each of the plurality of regions based on the acquired result. Positioning reinforcement system.   A positioning reinforcement method for providing location-specific positioning reinforcement information for correcting an error of a positioning signal from a positioning satellite, the result of observing the positioning signal in an individual area which is one area among a plurality of areas And generating a portion of the positioning reinforcement information in the individual area and sharing a part of the generated positioning reinforcement information with a part of the positioning reinforcement information in the reference area which is one area other than the individual area among the plurality of areas. And then providing positioning reinforcement information in the individual area.

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