JP2015025728A - Positioning method and positioning device using signal from aircraft - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a positioning method and a positioning device which can be made overwhelmingly miniaturized to the extent that the positioning device can be mounted on a small-sized bird and a middle-sided bird by suppressing power consumption.SOLUTION: The positioning method includes a receiver mounting step for mounting a positioning device including signal reception means for receiving an ADS-B signal, signal detection means for detecting a Doppler shift value of a received frequency or an attenuation value of reception power and recording means on a movable body, a position detection step for detecting ADS-B signals of two machines or more at a predetermined positioning time received by the signal reception means and position information of the receiver at the positioning time obtained by the signal detection means, a recording step for recording the ADS-B signals themselves received in the receiver mounting step or the position information of the receiver at the positioning time in the position detection step in the recording means, a data collection step for collecting the recorded positioning time and position information of the position detection means from the recording means, and a displaying step for displaying the position of the movable body over time from the collected positioning time and position information.

Description

  The present invention relates to a positioning apparatus and method using an automatic dependent surveillance (Broadcast: ADS-B) signal mounted on an aircraft, and more specifically, a position of a measured measuring instrument at the time of measurement, The present invention relates to a positioning method and a positioning apparatus that determine a measurement position at the time of measurement using a signal emitted from a broadcast type automatic subordinate monitoring apparatus (ADS-B) mounted on an aircraft.

  For the prevention of avian influenza, the recording of bird position data is important for identifying the avian fauna and the route of infection. The avian fauna is important because it is possible to analogize which bird has been infected by knowing which bird is compatible with it. Currently, the Argos system has been established to use satellite transmitters for bird tracking. However, currently it is limited to species larger than approximately 400 g due to transmitter weight constraints. They are mounted on other species such as migratory birds (geese, swans, vines, eagles) and penguins that travel long distances. During the lifetime of the transmitter battery, the individual is tracked over long distances by satellite.

  In addition, the GPS positioning system measures its own position using radio waves from multiple satellites launched on a circular orbit, and has already confirmed the current position of various mobile objects such as humans, ships, aircraft, and automobiles. Widely used in etc. However, the positioning value measured by the mobile body includes various errors. In recent years, a differential GPS positioning system has attracted attention as a system for reducing this error. In this case, the reference station on the fixed side calculates and transmits error correction information, and this is used by the positioning station on the moving side to correct its own positioning value.

  By the way, it is said that the limit of the weight of the transmitter mounted on the bird is 4% of the bird weight. In particular, more than half of the weight of satellite transmitters and GPS radio receivers are driven batteries, and for small and medium-sized birds, even Argos system transmitters and GPS signal reception are possible even when high-efficiency batteries are used. Currently, it is difficult to install the device.

  On the other hand, as a new aircraft monitoring system, broadcast-type automatic subordinate monitoring (ADS-B) mounted on an aircraft has been studied and put into practical use (see, for example, Patent Document 1). This ADS-B is a device that accurately grasps the position of the aircraft itself using GPS and transmits the position information and the like to the control system and other nearby aircraft at a high frequency. With ADS-B installed, nearby aircraft can send their own location information and display each other's location on the cockpit display, etc., making pilot monitoring easier and aerial collisions Further improvement in safety is expected by integration with a prevention device (TCAS).

  More specifically, a device that constantly transmits an ADS-B signal to an aircraft (mainly a regular passenger flight) toward a ground control engine or an airplane flying in the vicinity. ADS-B is based on a positioning system using GPS and has higher accuracy than conventional radar. This signal is transmitted at 1090 MHz and can be received by anyone with a dedicated receiver. The range in which the ADS-B signal can be received is generally a radius of 150 to 200 km. In addition, since not all passenger planes are equipped with ADS-B, not all aircraft can be recognized even within the detection range.

Special table 2012-533133 gazette

  The altitude of the aircraft that emits the ADS-B signal is about 10 km, the altitude of the NOAA satellite of the Argos system is 840 km, and the altitude of the GPS satellite is 20200 km. Due to this difference in altitude, the received power of the -7 dBi ADS-B antenna terminal is 80 dB or more higher than GPS. The received power of 80 dB is an overwhelming difference, and the size of the mounted battery can be reduced by reducing the power consumption.

  An object of the present invention is to obtain a positioning method and a positioning device that can be downsized so as to be mounted on a small bird or a medium bird by suppressing power consumption.

A positioning method using a signal from an aircraft according to the invention described in claim 1 includes a signal receiving means for receiving an ADS-B signal from the aircraft, a Doppler shift value of the frequency of the received ADS-B signal, or A receiving device mounting step of mounting a positioning device including a signal detecting means for detecting the attenuation value of the received power and a recording means on the moving body;
Position information of the receiving device at the time of positioning from the ADS-B signals from two or more aircraft at the predetermined positioning time received by the signal receiving means and the Doppler shift value or attenuation value obtained by the signal detecting means A position detection process for detecting
A recording step of recording the received ADS-B signal itself in the receiving device mounting step or the position information of the receiving device at the time of positioning in the position detecting step in the recording means;
A data recovery step of recovering the positioning and position information of the position detection means recorded from the recording means;
And a display step of displaying the position of the moving body over time from the collected positioning time and position information.

  The positioning method using signals from the aircraft according to the invention described in claim 2 is the positioning method using signals from the aircraft according to claim 1, wherein ADS-B signals from two or more aircraft are used. The position of the positioning point at the time of positioning is obtained by obtaining the distance from the received signal to the individual aircraft from the positioning point.

A positioning device using a signal from an aircraft according to the invention described in claim 3 is a positioning device that measures the position of a mounted mobile body over time,
Signal receiving means for receiving ADS-B signals from two or more aircraft at a predetermined positioning time;
Signal detection means for detecting a Doppler shift value of the frequency of the received ADS-B signal or an attenuation value of the received power;
Position detecting means for detecting position information of the positioning device at the time of positioning from ADS-B signal data obtained from the ADS-B signal received by the signal receiving means and Doppler shift value or attenuation value obtained by the signal detecting means When,
The position detecting means includes a recording means for recording the position information and position information.

  The present invention has an effect that by suppressing power consumption, a positioning method and a positioning device that can be overwhelmingly reduced in size so as to be mounted on a small bird or a medium bird can be obtained. Therefore, if the ADS-B from the aircraft flying over the great circle course can be captured even once a week while performing rough positioning based on the sunshine hours, the correct time and position can be corrected by the CPU mounted on the bird. Is useful for tracking small birds that cannot load the GPS battery.

BRIEF DESCRIPTION OF THE DRAWINGS It is explanatory drawing which shows the outline | summary of the positioning method using the signal from the aircraft of this invention, a figure shows the received power value according to the distance of -3 dB, and a vertical axis | shaft shows the received power value according to the distance. FIG. 4B is a conceptual diagram showing a state of an ADS-B signal from two aircraft aircraft. It is explanatory drawing which shows the value according to the elevation angle of the Doppler shift value in 1090MHz according to the speed of an aircraft, a figure is a diagram with a frequency change and the speed of an aircraft, b figure is explanatory drawing which shows the elevation angle of an aircraft It is. It is explanatory drawing which shows the data of the aircraft which could receive the speed, flight direction, and altitude change of three aircraft of a certain date and time. BRIEF DESCRIPTION OF THE DRAWINGS It is explanatory drawing explaining the structure of the positioning apparatus of one Example of this invention, a figure is a perspective view which shows the outline | summary of an apparatus, b figure is sectional drawing of a figure, c figure shows the structure of the receiving circuit of an apparatus. FIG. It is a block diagram which shows the structure of an FPGA integrated circuit. It is explanatory drawing which shows the structure of the packet data of an ADS-B signal. It is explanatory drawing explaining the positioning system at the time of the ADS-B signal from two or more aircraft of the positioning apparatus of this invention being received. It is explanatory drawing explaining the positioning system at the time of receiving the ADS-B signal from the aircraft of only 1 of the positioning apparatus of this invention.

  The positioning method using the signal from the aircraft of the present invention includes a signal receiving means for receiving an ADS-B signal from the aircraft, a Doppler shift value of the frequency of the received ADS-B signal, or a received power attenuation value. A receiving device mounting step of mounting a positioning device including a signal detecting means to detect and a recording means on a moving body; an ADS-B signal from an aircraft at a predetermined positioning time received by the signal receiving means; A position detection step for detecting position information of the receiving device at the time of positioning from the Doppler shift value or attenuation value obtained by the signal detection means, and the ADS-B signal itself received in the receiving device mounting step, or the position detection A recording step for recording the position information of the receiving device at the time of positioning in the process on the recording means, and a data for collecting the positioning time and position information of the position detecting means recorded from the recording means. Comprising a recovery step, and a display step of temporally displaying the position of the moving body from the recovered positioning time and location information. As a result, it is possible to obtain a positioning method and a positioning device that can be overwhelmingly miniaturized so as to be mounted on small birds and medium-sized birds by suppressing power consumption.

  In the recording step of the present invention, the ADS-B signal itself received in the receiving device mounting step is recorded in the recording means of the positioning device, or the position information of the receiving device at the time of positioning in the position detecting step is recorded. Record on means. When the ADS-B signal itself is recorded in the recording means, it is only necessary to perform a position detection step after collecting the data, and there is no need to install a calculation means for detecting the position information in the positioning device. There is. When the position information of the receiving device at the time of positioning in the position detection process is recorded in the recording means, there is an advantage that it is not necessary to mount a large capacity recording means.

  As for data collection, the positioning device itself may be provided with a function of transmitting data as well as collecting the data after collecting the positioning device itself. For example, when any trigger signal is received, the data can be collected by transmitting the accumulated data and the positioning device identification signal. An example of a trigger signal is a bird detector. The bird detector is an S-band radar (especially using the 3000 MHz band) that is already widely used, and uses the habit of collecting birds where fish are present to search for distant birds that cannot be seen with binoculars. This radar is used for tracking, and is mounted on fishing boats as an indispensable device for skipjack fishing and purse seine fishing. For this reason, data may be collected by mounting a receiving device on a mounted fishing boat or the like.

  As a positioning method using signals from an aircraft according to the present invention, reception of an ADS-B signal at a predetermined positioning time is received based on reception from only one aircraft or reception from two or more aircraft. The later response is different.

  For reception from two or more aircraft, each signal from the aircraft that issued the signal is detected by detecting the Doppler shift value or the attenuation value of the received power of the frequency of each received ADS-B signal by the signal detection means. The distance is obtained. Thereby, if the position at the time of positioning of two or more aircrafts is determined, the position of the positioning device is determined.

  When receiving from only one aircraft, the actual location is not determined. Accordingly, in this case, the positioning device intermittently continues every 10 to 30 seconds when the ADS-B signal is received only from one aircraft at a predetermined positioning time. When the positioning point position is obtained from the position of the aircraft at the positioning time of the two signals and the distance to the aircraft using the two ADS-B signals received, Discriminating information acquisition means for obtaining true / false discrimination information for discriminating between, and in the data recovery step, two different positioning signals ADS-B signals from the same aircraft received from the recording means or the The ADS-B signal data obtained from the signal and the Doppler shift value or attenuation value obtained by the signal detection means are collected, and in the display step, two received ADS-B signals are used to And a distance to the position and the aircraft of the aircraft after obtaining the actual position and the imaginary position of the positioning point in No. of positioning time, select the actual position with a true or false determination information. As a result, the actual position is obtained.

  That is, when the ADS-B signal is received only from one aircraft at a predetermined positioning time, the signal is intermittently continuously received every 10 to 30 seconds. Since the cruising speed of modern general passenger aircraft is 900 km / hr to 1000 km / hr (250 m / sec to 278 m / sec), a difference of 250 m to 27800 m will occur in the second reception. The real position and imaginary position of the device are obtained. In this state, the discrimination position acquisition means selects the real position and the imaginary position. When receiving a signal again, the Doppler shift or amplitude change becomes more noticeable when the interval is at least 10 seconds or more, and a received signal exceeding 30 seconds is used to determine the true position. This is because the cruising distance becomes long and the signal reception distance may be exceeded.

  Examples of the truth determination information include solar position information at the time of positioning, geomagnetic azimuth information, azimuth information from a fixed base station, and the like.

  In the present invention, a positioning device that measures the position of a mounted mobile body over time, a signal receiving unit that receives ADS-B signals from two or more aircrafts at a predetermined positioning time; Signal detection means for detecting the Doppler shift value of the frequency of the received ADS-B signal or the attenuation value of the received power, ADS-B signal data obtained from the ADS-B signal received by the signal reception means, and signal detection Position detecting means for detecting position information of the positioning device at the time of positioning from the Doppler shift value or attenuation value obtained by the means, and recording means for recording the positioning time and position information of the position detecting means. Thereby, by suppressing power consumption, it is possible to obtain a positioning device that can be overwhelmingly miniaturized so that it can be mounted on a small bird or a medium bird.

  FIG. 1 is an explanatory diagram showing an overview of a positioning method for detecting a received power attenuation value of a signal from an aircraft according to the present invention. In FIG. 1, the horizontal axis represents a received power value according to distance, and the vertical axis represents −3 dB. It is a diagram which shows the received power value according to distance, and b figure is a conceptual diagram which shows the state of the ADS-B signal from two aircraft aircraft. FIG. 2 is an explanatory diagram showing values according to the elevation angle of the Doppler shift value at 1090 MHz according to the speed of the aircraft, FIG. 2a is a diagram of the frequency change and the speed of the aircraft, and FIG. 2b is the elevation angle of the aircraft. It is explanatory drawing shown.

  As shown in FIG. 1a, since the received power value corresponding to the distance is represented by a clean linear function, it can be seen that the distance can be estimated from the received power from the positioning free space propagation equation based on the received power.

That is, since the received power depends on the environment, it is assumed that, for example, a delay of -3 dB is provided, and the transmitter and the receiver are located within a distance in this range. Since this probability density function is line-of-sight communication, it is based on the Rice distribution that is logarithmic normal distribution, and 68% of events are logically accommodated in the range of received power −3 dB. If the received power can be recorded almost simultaneously from the two aircrafts as shown in FIG. 1, the real and imaginary two areas can be estimated. Either of these two areas is negated by Doppler shift (imaginary area is negated), and the position is obtained from the Doppler shift data, the aircraft position data, and the time using the least square method, and the position accuracy within the area is improved.
The distance between the aircraft where the real and imaginary areas are estimated from the amplitude component and the ADS-B receiver is approximately 10-100 km, which is sufficiently small compared to the light speed for 1 second, so the transmission time for this distance is ignored. To do. On the other hand, since the GPS recording time of the aircraft is on the ADS-B signal, the GPS reception position on the aircraft side has a time difference of Δt from the reception time of the ADS-B receiver. It is separated by (flying speed), which is an error in the calculation position of Doppler shift.

As a precaution, we decided to use only aircraft that could receive aircraft speed, flight direction, and altitude changes. These can be estimated geometrically from the ADS-B received data. Geometric coordinates of the aircraft as seen from the receiver (because the distance is short, the earth is calculated as flat here). FIG. 3 is an explanatory diagram showing data of an aircraft that has received the speed, flight direction, and altitude change of three aircraft at a certain date and time. As shown in FIG. 3, in the three aircrafts of ○ mark, □ mark, and △ mark, the measured 21 coordinates are obtained within an error of +/− 2 seconds = + / − 61 m in one pass. It was shown that. It was found that if these were averaged by a plurality of machines, the estimated value was in the range of one digit lower.
Since it is unexpectedly difficult to obtain the frequency deviation of the ADS-B signal with a short pulse component, the frequency is trended on the time axis and added to the unit time and averaged. Further, the Doppler shift, amplitude (received power) and It is considered that the position accuracy can be obtained with an error of about +/− 2 seconds (+/− 61.4 m) in consideration of the estimated area. Note that one minute of latitude is approximately equal to one nautical mile (1854 m), and DEG = degree + (minute + second ÷ 60) ÷ 60.

  Since the positioning device of the present invention receives an ADS-B signal, power consumption is overwhelmingly lower than, for example, a positioning device equipped with a GPS receiver. Therefore, a small battery is used as a driving power source. Thus, it is possible to obtain a positioning device that can be overwhelmingly small enough to be mounted on a small bird or a medium bird.

  The positioning device of the present invention measures the position of the mounted moving body over time. The measured movement position data is recorded in the recording means. After reading the data recorded from the recording means, the position of the moving body over time is obtained. Thereby, for example, it can be used for verification of migratory bird position data on the assumption of prevention of avian flu, or mounted on a motorcycle or a car, so that a touring route and a store where the user visited may be confirmed.

  Any signal receiving means of the present invention may be used as long as it receives ADS-B signals from one or more aircraft at the positioning time. The ADS-B signal is a signal emitted from an aircraft equipped with broadcast-type automatic subordinate monitoring (ADS-B). The position of the aircraft itself is measured by GPS, and the aircraft's own model, latitude / longitude / altitude position, Signals that are regularly broadcast to the ground station and other aircraft, such as the direction of travel, upward and downward indicating up and down, and time of transmission, etc. Use at least the aircraft's time, aircraft model, latitude / longitude / altitude position.

  When receiving ADS-B signals from two or more aircrafts at the time of positioning by the signal receiving means, the Doppler shift value of the frequency of each ADS-B signal received by the signal detecting means or By detecting the attenuation value of the received power, each distance from the aircraft that issued the signal can be obtained. Thereby, if the position at the time of positioning of two or more aircrafts is determined, the position of the positioning device is determined. As described above, the ADS-B signal broadcasts the aircraft's own model, the position of latitude / longitude / altitude, the traveling direction, upward and downward indicating upward and downward, and the time of transmission.

  Further, a positioning device at the time of positioning from the ADS-B signal data obtained from the individual ADS-B signals received by the signal receiving means and the Doppler shift value or attenuation value obtained by the signal detecting means by the position detecting means. By detecting the position information and recording the position information of the position detection means and the position information on the recording means, it becomes possible to measure the position of the moving body on which the positioning device is mounted over time. -B signal is received, and for example, power consumption is overwhelmingly lower than that of a positioning device equipped with a GPS receiver. Therefore, a small battery can be used as a drive power source. A positioning device that can be overwhelmingly reduced in size so that it can be mounted on birds and medium-sized birds can be obtained.

  When ADS-B signals from two or more aircraft are received, the position of the positioning device at the time of positioning is determined by the individual signals, but only with ADS-B signals from only one aircraft, The actual location is not determined. That is, the distance from the aircraft position at the time of positioning is obtained from one ADS-B signal. Since this aircraft is flying, it will move to a different position after a few seconds. The distance from the aircraft position after a few seconds is obtained from the ADS-B signal from the same aircraft at that time. As a result, when trying to determine the position of the moving body on which the positioning device is mounted, an imaginary position exists in the mirror image position with respect to the route of the aircraft along with the actual position of the positioning device.

  For this reason, as a preferable aspect, when the ADS-B signal is received only from one aircraft at a predetermined positioning time, the signal is intermittently received every 10 to 30 seconds. And determining the position of the positioning point from the position of the aircraft at the positioning time of the two signals and the distance to the aircraft using the received two ADS-B signals, and determining the actual position and the imaginary position Discriminating information acquisition means for obtaining truth discriminating discriminating information.

  The discrimination information acquisition means of the present invention includes a plurality of antennas that are evenly arranged so as to surround the positioning device and an illuminance sensor that is uniformly arranged so as to surround the positioning device, or a positioning device. One having a plurality of antennas arranged evenly so as to surround and an electronic compass for detecting envelopment by detecting magnetism.

  FIG. 4 is an explanatory diagram for explaining the configuration of a positioning device according to an embodiment of the present invention. FIG. 4a is a perspective view showing the outline of the device. FIG. 4b is a sectional view of FIG. FIG. FIG. 5 is a configuration diagram showing the configuration of the FPGA integrated circuit. FIG. 6 is an explanatory diagram showing the structure of packet data of an ADS-B signal. FIG. 7 is an explanatory diagram for explaining a positioning method when ADS-B signals are received from two or more aircraft of the positioning device of the present invention. FIG. 8 is an explanatory diagram for explaining a positioning method when an ADS-B signal is received from only one aircraft of the positioning device of the present invention.

  As shown in FIGS. 4a and 4b, the positioning device 10 of this embodiment is attached to the neck of the migratory bird 11 as shown in FIGS. The positioning device 10 has a hexagonal cross section, three patch antennas 12 (selected in order of PIN diodes) every 120 degrees on three non-adjacent planes, and 3 every 120 degrees on the other three planes. It is a module in which two illuminance meters 31 are arranged. As shown in FIG. c, the receiving circuit selects and amplifies the signal from the patch antenna 12 selected in order by the PIN diode by the high frequency amplifier (LNA) 13. The size of the patch antenna 12 uses a high dielectric, and is 2.5 cm × 2.5 cm −4 dBi, and the value viewed from the input end of the high-frequency amplifier 13 including attenuation at PIN is −7 dBi.

  From the signal that has passed through the high-frequency amplifier 13, an electrical signal in a specific frequency band (1090 MHz (BW: 5 MHz)) is taken out through the SAW filter 14. Further, after the frequency is lowered by a frequency converter composed of a local oscillator 16 and a mixer 17 (mixer) in the microwave integrated circuit 15, a specific frequency band (70 MHz (BW: 1 MHz)) passes through the SAW filter 18. The electrical signal is taken out.

  The intermediate frequency amplifier 19 lowers the frequency with a frequency converter composed of a local oscillator 20 and a mixer 21 (mixer), the analog-digital converter 22 performs conversion processing, and the received ADS-B. Detecting the Doppler shift value of the signal frequency or the attenuation value of the received power, and positioning from the ADS-B signal data obtained from the received ADS-B signal and the Doppler shift value or attenuation value obtained by the signal detection means After detecting the position information of the positioning device at the time, the positioning time and the position information of the position detecting means are recorded in the memory 24 as a recording means. Note that the receiving circuit is not limited to the circuit as shown in FIG. For example, if the IF circuit is deleted from the circuit diagram on the homodyne receiver, the received power of -60 dBm is amplified by 30 dB at 1 GHz (excluding SAW and frequency conversion), and further amplified by 40 dB at baseband (excluding LPF attenuation) Since the baseband power is 10 mW, an average value of 2 V is obtained with the A / D terminal resistance 400Ω.

  As a specific configuration for detecting the position information of the positioning device at the time of positioning using the ADS-B signal, for example, as shown in FIG. 5, the FPGA integrated circuit 23 performs discrete Fourier transform or fast Fourier transform processing. In FIG. 5, the heterodyne receiver has better linearity between the NF and the received power, but the frequency stability is important because the local frequency fluctuation is calculated from the previous pulse.

  In the FPGA integrated circuit of FIG. 5, as a butterfly operation, the sampling rate of A / D is 100 MSPS at the maximum, but since the data rate is 1 Mbps, 8 MSPS is sufficient. A pulse width is 0.1 ms, and a data string of 8000 power axes 16 bits per frame is obtained. This is divided into two times and DFT is performed to achieve a resolution of frequency deviation 0.1 Hz and power 0.1 dBm. The deviation of the center frequency is Doppler shift, the deviation of the zero span is the fluctuation of the local oscillator, the NFC is applied to the PLL on the receiver side as an analog potential as AFC, and the finally analyzed data is recorded in the memory 24 .

  As shown in FIG. 6, the structure of the data block of the ADS-B signal received by the positioning apparatus 10 is as follows: an 8-bit control unit, a 24-bit address unit, a 56-bit ADS-B message unit, and a 24-bit parity. It consists of 112 bits in total. The message types include aircraft position, aircraft speed, airport position, identification, and event driven.

  As shown in FIG. 7, when the positioning device 10 receives ADS-B signals from two or more aircrafts, the position of the positioning device at the time of positioning is determined by the individual signals. As shown in the figure, the positioning device 10 is attached to the neck of the migratory bird 11. In the case shown in FIG. 7, ADS-B signals from four aircrafts 41, 42, 43, 44 are received around the positioning device 10.

  By detecting the Doppler shift value of the frequency of the received ADS-B signal or the attenuation value of the received power, the respective distances r1, r2, r3, r4 from the aircraft that issued the signal are obtained. On the other hand, since the ADS-B signal transmitted by each aircraft broadcasts the aircraft's own model, the latitude / longitude / altitude position, the time at the time of transmission, etc., the migratory bird 11 equipped with the positioning device 10 is installed. It is possible to measure the position of each of them over time.

  As described above, when ADS-B signals from two or more aircraft are received, the position of the positioning device at the time of positioning is determined by the individual signals, but ADS-B from only one aircraft is used. The actual location is not determined only by the signal. In this case, the true / false discrimination information for discriminating the real location and the imaginary location is required.

  As shown in FIG. 8, the distance ra from the aircraft position at the time of positioning is obtained from one ADS-B signal from the positioning position 51 a of only one aircraft 51. Since the aircraft 51 is flying, it moves to a different position 51b after a few seconds. The distance rb from the aircraft position 51 moved several seconds later is obtained from the ADS-B signal from the same aircraft at that time. As a result, when trying to determine the position of the moving body on which the positioning device is mounted, an imaginary position exists in the mirror image position with respect to the route of the aircraft along with the actual position of the positioning device.

  Therefore, when the ADS-B signal is received only from one aircraft at a determined positioning time, the signal is intermittently received every 10 to 30 seconds, and the received two Using the ADS-B signal, the positioning point position is obtained from the position of the aircraft at the positioning time of the two signals and the distance to the aircraft. At this time, a real position A and an imaginary position B are generated. The true / false discrimination information for discriminating between the real position A and the imaginary position B is used.

  As shown in FIG. 4, since the illuminometer 31 is arranged evenly so as to surround the positioning device 10 as shown in FIG. 4, the illuminometer 31 knows the position of the sun as shown in FIG. The direction in which the collar is facing can be identified in units of 120 degrees, and by selecting the receiving antenna 12 in order by PIN, it is possible to grasp from which direction the radio wave is strong. That is, true and imaginary coordinates can be determined from the relationship between the direction of the antenna that can be received and the sun. This is a spatial orientation sensor using the sun. In the line design, a distance of 20 km (elevation angle of about 30 degrees) is separated and a matching loss of 3 dB is considered.

  By suppressing power consumption, it can be overwhelmingly miniaturized, and can be mounted on small birds and medium-sized birds, and by collecting data, the position over time can be measured.

10: positioning device,
11 ... Migratory birds,
12 ... Patch antenna,
13 ... high frequency amplifier (LNA),
14 ... SAW filter,
15 ... Microwave integrated circuit,
16 ... Local oscillator,
17 ... mixer (mixer),
18 ... SAW filter,
19: Intermediate frequency amplifier,
20 ... Local oscillator,
21 ... Mixer
22 ... analog / digital converter,
23. FPGA integrated circuit,
24 ... Memory,
31 ... Illuminance meter,
41 ... Aircraft,
42 ... Aircraft,
43 ... Aircraft,
44 ... Aircraft,

Claims (3)

Positioning apparatus comprising signal receiving means for receiving an ADS-B signal from an aircraft, signal detecting means for detecting a Doppler shift value of the frequency of the received ADS-B signal or an attenuation value of received power, and a recording means Receiving device mounting process for mounting the
Position information of the receiving device at the time of positioning from the ADS-B signals from two or more aircraft at the predetermined positioning time received by the signal receiving means and the Doppler shift value or attenuation value obtained by the signal detecting means A position detection process for detecting
A recording step of recording the received ADS-B signal itself in the receiving device mounting step or the position information of the receiving device at the time of positioning in the position detecting step in the recording means;
A data recovery step of recovering the positioning and position information of the position detection means recorded from the recording means;
A positioning method using a signal from an aircraft, comprising: a display step of displaying the position of a moving body over time from the collected positioning time and position information.   2. A positioning point position at the time of positioning is obtained by receiving ADS-B signals from two or more aircrafts and obtaining distances from the positioning points to individual aircrafts from the received signals. The positioning method by the signal from the aircraft as described in 1. A positioning device that measures the position of a mounted mobile body over time,
Signal receiving means for receiving ADS-B signals from two or more aircraft at a predetermined positioning time;
Signal detection means for detecting a Doppler shift value of the frequency of the received ADS-B signal or an attenuation value of the received power;
Position detecting means for detecting position information of the positioning device at the time of positioning from ADS-B signal data obtained from the ADS-B signal received by the signal receiving means and Doppler shift value or attenuation value obtained by the signal detecting means When,
A positioning device using a signal from an aircraft, comprising: a recording means for recording position information and position information of the position detecting means.

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