JP2016020812A - Positioning correction information supplying device and satellite positioning device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enhance the positioning accuracy of a positioning device while keeping its configuration inexpensive.SOLUTION: A satellite positioning system comprises a satellite positioning device and a positioning correction information supplying device that supplies information regarding positioning satellites to the satellite positioning device. A correction information supplying device generates, regarding at least one positioning satellite, satellite information including information indicating the appropriateness regarding the use of satellite signals from the positioning satellite for positioning satellite, and transmits it to the satellite positioning device. The satellite positioning device decides, on the basis of the satellite information received from the positioning correction information supplying device, on satellite signals to be used for positioning, and figures out positional information on the basis of the satellite signals decided upon.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technique for improving the positioning accuracy of satellite positioning.

In recent years, satellite positioning using GNSS (Global Navigation Satellite System) such as GPS (Global Positioning System) has been widely used. There are the following technologies for improving the positioning accuracy in satellite positioning.

  As a first method, there is a technique in which an apparatus that performs satellite positioning receives correction data transmitted from a reference station whose position is known, and corrects a positioning result using the correction data to improve accuracy. For example, DGPS, RTK-GPS, and the like are known, and Patent Document 1 describes that positioning accuracy is improved using DGPS in a pedestrian terminal. In DGPS, data for correcting a common error (error due to atmospheric propagation, satellite orbit, satellite clock, etc.) in a wide range (several tens km to several hundred km) is transmitted. Error based on path and clock errors) cannot be corrected.

  As a second method, there is a technique for correcting a positioning result by satellite positioning using autonomous navigation or map matching. Autonomous navigation is a technique for estimating a position using an electronic compass or gyro, a distance meter, and a speedometer, and map matching is a technique for correcting a positioning error by comparing a position locus (route) with a map. By using such a method, it is possible to correct a positioning error based on an error factor unique to the positioning device. However, in order to employ these methods, the positioning device needs to include an expensive sensor or the like, which increases the cost of the positioning device.

  In relation to the second method, Patent Document 2 discloses that after the in-vehicle terminal acquires position information from the pedestrian terminal and performs correction by map matching processing or the like in the in-vehicle terminal, the corrected position information Is notified to the pedestrian terminal. According to this method, an advanced sensor is unnecessary for the pedestrian terminal, and the cost of the pedestrian terminal can be suppressed. However, there is a problem that when the number of pedestrian terminals increases, the processing load on the in-vehicle terminal increases.

JP 2001-116564 A JP 2012-211843 A

  In view of the above problems, an object of the present invention is to improve the positioning accuracy of a satellite positioning device while making the satellite positioning device inexpensive.

A first aspect of the present invention is a positioning correction information providing device that provides information on positioning satellites to a satellite positioning device that performs satellite positioning. The information on the positioning satellite (satellite information) includes information on the appropriateness of use such as which positioning satellite should be used or not used when performing satellite positioning. This suitability is preferably determined by how much the satellite signal is affected by multipath fading.

  More specifically, the positioning correction information providing apparatus according to this aspect includes satellite signal receiving means for receiving satellite signals transmitted from a plurality of positioning satellites, and satellite information generation for generating satellite information that is information related to the positioning satellites. Means, and transmission means for transmitting the satellite information to the satellite positioning device. And satellite information contains the information which shows the appropriateness | suitability regarding using the satellite signal from the said positioning satellite for a positioning about at least 1 positioning satellite. Here, “information indicating the appropriateness of using a satellite signal for positioning” may be information for identifying a satellite signal appropriate for use in positioning, and may not be used for positioning. It may be information that identifies an appropriate satellite signal, or information that represents the degree of appropriateness regarding use for positioning. As the “information for identifying the satellite signal”, for example, a positioning satellite number or an identifier can be used.

  In this aspect, the positioning correction information providing apparatus determines how much the satellite signal is affected by multipath fading (hereinafter simply referred to as multipath), and uses it for positioning according to the degree of multipath influence. It is preferable to determine suitability and generate satellite information. For example, it is considered that a satellite signal that is less affected by multipath is a satellite signal that is appropriate to use for positioning (hereinafter, also simply referred to as “appropriate satellite signal”). Further, it is conceivable that a satellite signal having a large multipath influence is a satellite signal that is inappropriate to use for positioning (hereinafter, also simply referred to as “inappropriate satellite signal”). It is also conceivable to use the degree of multipath influence as the degree of suitability for use in positioning.

  In this aspect, a satellite signal suitable for use in positioning can be determined as follows. In other words, the positioning information is calculated based on any combination of satellite signals that can be received by the positioning correction information providing apparatus, and the satellite signals included in the combination that minimizes the error from the correct position information are used for positioning. Can be determined to be appropriate. The correct position information means the position information of the positioning correction information providing device with higher accuracy than the positioning based on satellite positioning alone. For example, when the positioning correction information providing device is a mobile device such as an in-vehicle device, the position information obtained by correcting the positioning result based on the satellite signal based on autonomous navigation, map matching processing, or the like corresponds. . When the positioning correction information providing device is a fixed device, the position information measured by a separate means corresponds to the correct position information. It should be noted that a combination of satellite signals with the smallest error with the correct position information is an appropriate satellite signal to be used for positioning, but a satellite signal included in a combination with which the error is less than a predetermined value is appropriately selected. It does not matter even if it is a simple satellite signal.

  It can be estimated that a satellite signal included in a combination of satellite signals that gives a positioning result with little error from correct position information is not affected by multipath or the like. Just because a satellite signal received by a satellite information providing device is not affected by a multipath does not mean that a satellite signal received by a satellite positioning device is not affected by a multipath, but the probability is high. . Therefore, it can be said that the satellite signal determined in this way is an appropriate satellite signal to be used for positioning in the satellite positioning device.

  Note that it is not necessary to calculate position information for all combinations of received satellite signals. For example, position information may be calculated for an arbitrary combination from received satellite signals that are estimated not to be affected by multipath, and a combination with a small error may be obtained. Good.

Further, in this aspect, the positioning correction information providing apparatus can determine whether or not the received satellite signal includes a delayed wave, and can generate satellite information based on the determination result. That is, the positioning correction information providing device calculates a delay profile of the satellite signal, determines whether the satellite signal includes a delay wave based on the delay profile, and generates satellite information based on the determination result. Can do. The fact that the delay wave is included is because it can be determined that the satellite signal is affected by the multipath. The satellite information may indicate that a satellite signal that does not include a delayed wave is an appropriate satellite signal, or that a satellite signal that includes a delayed wave is an inappropriate satellite signal. There may be. Further, the received power of the delayed wave may be set to an appropriate level.

  In this aspect, the positioning correction information providing device generates satellite information based on a comparison between the received power of the satellite signal estimated based on the position of the own device and the position of the positioning satellite and the actual received power. be able to. That is, the positioning correction information providing apparatus acquires orbit information of a plurality of positioning satellites, acquires position information of the own apparatus, and for each of the plurality of positioning satellites, from the orbit information of the positioning satellite and the position information of the own apparatus, The received power of the satellite signal from each positioning satellite can be estimated, and satellite information can be generated based on the difference between the estimated received power and the actual received power. The fact that the actual received power is different from the received power estimated from the positional relationship is because it can be determined that the satellite signal is affected by the multipath. The satellite information may indicate that a satellite signal whose difference is equal to or less than a predetermined threshold is an appropriate satellite signal, or a satellite signal whose difference is larger than the threshold is inappropriate. It may be a thing which shows that it is, and the above-mentioned difference may be made into an appropriate degree.

  Further, in this aspect, whether the positioning correction information providing apparatus can directly receive a satellite signal from the positioning satellite based on the position of the own apparatus, the position of the positioning satellite, and the surrounding building information. And satellite information can be generated based on the determination result. That is, the positioning correction information providing device acquires map information including building information, orbit information of a plurality of positioning satellites, and position information of the own device, and from these information, satellite signals transmitted from the positioning satellites are obtained. It is possible to determine whether or not direct reception is possible without being blocked by a building, and to generate satellite information based on the determination result. This is because the fact that direct waves cannot be received can be determined to be affected by multipath. Here, the satellite information may indicate that the satellite signal that can be directly received is an appropriate satellite signal, or that the satellite signal that cannot be directly received is an inappropriate satellite signal. Also good.

  Further, in this aspect, the positioning correction information providing apparatus may generate satellite information based on a comparison between the pseudo distance of the positioning satellite calculated by the satellite positioning apparatus and the pseudo distance of the positioning satellite calculated by the own apparatus. it can. In other words, the positioning correction information providing device receives the pseudorange generated based on the satellite signal received by the satellite positioning device from the satellite positioning device, and calculates the pseudorange for positioning generation based on the satellite signal received by the own device. The satellite information can be generated based on the difference between these pseudoranges. The fact that the pseudorange calculated by the positioning correction information providing device is different from the pseudorange calculated by the satellite positioning device is because it can be determined that the satellite signal received by at least one of the devices is affected by multipath. It is. Here, the satellite information may indicate that a satellite signal in which the difference between the two pseudo distances is equal to or less than a predetermined threshold is an appropriate satellite signal, or the difference between the two pseudo distances is A satellite signal larger than the threshold value may indicate that it is an inappropriate satellite signal, or a difference between the pseudo distances may be set to an appropriate level.

In this aspect, the satellite information can also be generated based on the temporal variation of the pseudorange of the positioning satellite calculated by the positioning correction information providing device. That is, the positioning correction information providing device periodically calculates the pseudorange of the positioning satellite based on the received satellite signal, and generates the satellite information based on the change amount of the pseudorange in the latest predetermined period. You can also. This is because it can be determined that the satellite signal is affected by the multipath when the time variation of the pseudorange of the positioning satellite is large. Note that the time variation may be determined based on the variance or the difference between the maximum value and the minimum value. Here, the satellite information may indicate that a satellite signal whose pseudorange time variation is equal to or less than a predetermined threshold is an appropriate satellite signal, or a satellite whose pseudorange time variation is larger than this threshold value. It may indicate that the signal is an inappropriate satellite signal, or may include time variation of the pseudorange as an appropriate degree.

  In this aspect, the satellite information can also be generated based on the temporal variation of the phase of the positioning satellite calculated by the positioning correction information providing device. That is, the positioning correction information providing apparatus can periodically calculate the phase of the received satellite signal and generate the satellite information based on the amount of phase change in the most recent predetermined period. This is because it is possible to determine that the satellite signal is affected by multipath when the phase variation of the positioning satellite phase is large. The time variation of the phase may be determined based on the variance, the difference between the maximum value and the minimum value, or the like. Here, the satellite information may indicate that a satellite signal whose phase time variation is equal to or less than a predetermined threshold is an appropriate satellite signal, or a satellite signal whose phase time variation is larger than this threshold. It may indicate that the satellite signal is inappropriate, or it may include a time variation of the phase as an appropriate degree.

  Further, in this aspect, out of the satellite signals that can be received by the positioning correction information providing apparatus, the position information obtained by using the other satellite signals except for one satellite signal is not all the receivable satellite signals. The satellite information can also be generated based on whether the accuracy is improved or lowered as compared with the position information obtained by use. That is, the positioning correction information providing apparatus acquires the position information of the own apparatus with higher accuracy than the positioning based on only the satellite positioning, calculates the first position information based on all the received satellite signals, and receives the received position information. Second position information is calculated based on a satellite signal from which one satellite signal is excluded from the satellite signals, and the difference between the first position information and the position information of the own device, the second position information and the own position information are calculated. Satellite information can also be generated based on the difference in device position information. Here, when the position information that excludes a certain satellite signal is obtained, if the position accuracy improves, it can be determined that the excluded satellite signal was affected by multipath, and the position accuracy does not change or decreases. The satellite signal is not affected by multipath. Therefore, the satellite information may indicate that the satellite signal whose position accuracy does not change or decreases by being excluded is an appropriate satellite signal, or a satellite signal whose position accuracy is improved by being excluded. It may indicate that the satellite signal is inappropriate.

  In this aspect, it is also preferable that the positioning correction information providing apparatus includes the received power for each satellite signal in the satellite information. Furthermore, it is preferable that the maximum received power and the average received power within the most recent predetermined period are also included in the satellite information. This is because the satellite positioning device can determine that the satellite signal having a large difference between the received power notified from the positioning correction information providing device and the actual received power is affected by multipath. In addition, since the received power itself depends on the performance of the receiving device, by transmitting the maximum received power and the average received power, the difference between the maximum received power or the average received power and the current received power in the positioning correction information providing device, It is preferable to determine the influence of multipath by comparing the maximum received power or average received power in the satellite positioning device with the difference between the current received power.

  In this aspect, it is preferable that the positioning correction information providing device transmits the satellite information with transmission power determined for each area in which the device itself is located. For example, in an urban area where there are many buildings, there is a large change in the effect of multipath due to the difference in distance between the positioning correction information providing device and the satellite positioning device. Therefore, it is preferable that the satellite information is not effectively transmitted to the satellite positioning device far away from the positioning correction information providing device, and the satellite information is transmitted with low transmission power in the urban area. Conversely, in rural areas with few buildings, it is highly effective to notify satellite information to satellite devices that are far away, so it is preferable to transmit satellite information with high transmission power. For example, the transmission power for each area may be stored in advance by the satellite information providing apparatus.

According to a second aspect of the present invention, there is provided a positioning correction information providing device that provides a setting parameter when the satellite positioning device performs satellite positioning to the satellite positioning device that performs satellite positioning. More specifically, the positioning correction information providing apparatus according to this aspect is a positioning correction information providing apparatus that provides a setting parameter when performing satellite positioning to a satellite positioning apparatus that performs satellite positioning, Related to position information acquisition means for acquiring position information, storage means for storing the relationship between area information, which is information related to position information, and setting parameters in satellite positioning, and area information obtained from the position information of the own device Transmitting means for transmitting the set parameters to the satellite positioning device.
The area information includes the identifier of the area (region) including the position of the own device, the road width at the position, the height of the building around the position (average height and maximum height), and the sky in the elevation direction at the position. An opening degree or the like can be employed. As the area information, any information can be adopted as long as the position can be classified according to a predetermined standard.

  As the setting parameter, the minimum value of the elevation angle of the satellite to be used for positioning can be mentioned. The larger the elevation angle of the satellite, the less affected by the building, etc., so the satellite positioning device is affected by multipath by notifying the satellite positioning device of the minimum value of the required elevation angle from the positioning correction information providing device. Positioning can be performed using a satellite signal that is not estimated. Setting parameters other than the minimum value of the elevation angle include the minimum number of satellites used for positioning, the satellite number prohibited to use, the minimum signal level of satellite signals used for positioning, smoothing coefficient, dynamic coefficient, two-dimensional positioning and three-dimensional The switching threshold of positioning, the altitude at the time of two-dimensional positioning, etc. are mentioned. Since these setting parameters are preferably set according to the environment around the positioning device, the positioning correction information providing device stores in advance the relationship between the position information and appropriate setting parameters at the position. Or may be acquired from another device through communication.

  A third aspect of the present invention is a satellite positioning device that performs positioning based on satellite signals from positioning satellites in consideration of satellite information transmitted from a positioning correction information providing device. More specifically, the satellite positioning device according to this aspect includes satellite signal receiving means for receiving satellite signals transmitted from a plurality of positioning satellites, and satellite signals from the positioning satellites for at least one positioning satellite. Satellite information receiving means for receiving satellite information including information indicating appropriateness for use in positioning, satellite signal determining means for determining a satellite signal to be used for positioning based on the satellite information, and determined satellite signal Position information calculation means for calculating position information based on

  According to such a configuration, the satellite signal used for positioning can be determined based on the satellite information transmitted from the positioning correction information providing device, and the positioning accuracy in the satellite positioning device can be improved. . The satellite positioning apparatus requires only the satellite information receiving means other than the satellite signal receiving means and the position information calculating means, and an expensive apparatus is not required, so that accurate positioning can be realized at low cost.

  In this aspect, when the satellite information includes a combination of satellite signals suitable for use in positioning, the satellite signals included in this combination and received by the satellite positioning device Is preferably determined as a satellite signal used for positioning. By calculating position information using a combination of satellite signals determined to be preferable in the positioning correction information providing apparatus, it is expected that accurate position information can be obtained also in the satellite positioning apparatus.

When the satellite information further includes information on the received power of each satellite signal in the positioning correction information providing apparatus, the difference between the received power included in the satellite information and the received power received by the own apparatus is a predetermined threshold value. It is also preferable to determine a satellite signal that further satisfies the following condition as a satellite signal used for positioning. As described above, when there is a difference in received power between the positioning correction information providing device and the satellite positioning device, the multipath effect differs between the two, and the satellite signal received by either device is affected by the multipath. It is because it is thought that it has received. By excluding such satellite signals, accurate positioning is possible.

  In this aspect, when the number of satellite signals determined to be used for positioning in accordance with the above conditions is less than a predetermined number, the satellite signal determining means includes only the number necessary to reach the predetermined number in the combination. It is preferable that a satellite signal to be used for positioning is determined according to a predetermined standard from among satellite signals that are not included and can be received by the satellite signal receiving means. The predetermined number is the number of satellite signals necessary for accurate positioning, and is basically 4 or more. The predetermined number is set to be larger as positioning with high accuracy is required.

  As the predetermined reference, for example, a reference that the received power in the satellite signal receiving means is large or a reference that the elevation angle of the positioning satellite is high can be adopted. In other words, until the number of satellite signals determined to be used for positioning reaches the above-mentioned predetermined number, the satellites are added to be used for positioning in order from the satellite with the highest received power, or are used for positioning in order from the satellite signal with the largest elevation angle. Add as a thing. This is because satellite signals with high received power and satellite signals from positioning satellites with a high elevation angle are considered to be less likely to be affected by multipath. Further, when the satellite information includes an appropriate degree of the satellite signal, a criterion that the appropriate degree is large can be adopted. In other words, the satellite signals may be selected in order from the satellite signal having the most appropriate degree until the predetermined number is reached. Alternatively, when the satellite information includes a positioning satellite that is inappropriate to be used for positioning, a satellite signal to be used for positioning may be selected based on an appropriate standard other than the inappropriate satellite signal.

  Further, in this aspect, when the satellite information includes information indicating a satellite signal that is inappropriate to be used for positioning, it is inappropriate among the satellite signals that can be received by the satellite positioning device. It is also preferable to determine that the satellite signals other than those shown are used for positioning. According to such a configuration, since the position information is calculated except for an inappropriate satellite signal affected by multipath, positioning accuracy is improved.

  Note that the position information may be calculated using all satellite signals other than the satellite signals indicated as inappropriate, or the position information may be calculated using only some of the satellite signals selected from the satellite information. Information may be calculated. As selection criteria, the magnitude of received power in the satellite positioning device and the elevation angle of the positioning satellite are increased. In other words, it is conceivable that the satellite positioning device selects (preferentially) the satellite signals in descending order of reception power, or selects (preferentially) the satellite signals in descending order of elevation angle. According to such priorities, satellite signals may be selected until the number of satellite signals necessary for positioning (the above-mentioned predetermined number) is reached.

  According to such a method, it is possible to select a satellite signal that is determined to be appropriate by the satellite positioning device from the satellite signals that are determined to be inappropriate by the positioning correction information providing device. Good positioning is possible.

  Further, in this aspect, when the satellite information includes an appropriate degree of using each satellite signal for positioning with respect to one or a plurality of satellite signals, the satellite positioning device can receive the satellite signals. It is also preferable to determine the satellite signal to be used for positioning based on the appropriate degree indicated in the satellite information. For example, the satellite signals may be selected in descending order of appropriateness until the number of satellite signals necessary for positioning (the predetermined number) is reached. According to such a configuration, since the position information is calculated except for an inappropriate satellite signal affected by multipath, positioning accuracy is improved.

Further, when the satellite information includes the received power of each satellite signal in the positioning correction information providing device, the difference between the received power included in the satellite information and the received power received by the own device is equal to or less than a predetermined threshold value. It is also preferable to determine a satellite signal that further satisfies the condition of as a satellite signal used for positioning. As described above, when these received powers are different, the satellite signal may be affected by multipath.

  In this aspect, when the satellite positioning device receives satellite information from a plurality of positioning correction information providing devices, it is preferable to determine a satellite signal used for positioning as follows. When the satellite information includes information indicating an appropriate satellite signal, it is conceivable to select satellite signals included in all satellite information. Conversely, when the satellite information includes information indicating an inappropriate satellite signal, it is conceivable to select a satellite signal that is not included in any satellite information. If the satellite information includes an appropriate degree of use for positioning, the satellite positioning device weights the satellite information according to the received power and determines the appropriate degree of use of each satellite signal for positioning. You may calculate in. This weighting can be similarly applied when the satellite information includes an appropriate satellite signal or an inappropriate satellite signal. In addition, when the satellite information includes a combination of satellite information appropriate for use in positioning and a positioning error using the combination, the satellite information including the smallest positioning error is used or smaller than a predetermined threshold value. It is conceivable to preferentially use satellite information including positioning errors.

  A fourth aspect of the present invention is a satellite positioning device that performs positioning based on a satellite signal from a positioning satellite using a setting parameter transmitted from a positioning correction information providing device. More specifically, the satellite positioning device according to this aspect includes a satellite signal receiving unit that receives satellite signals transmitted from a plurality of positioning satellites, a satellite information receiving unit that receives setting parameters in satellite positioning, and the setting Satellite signal determining means for determining a satellite signal to be used for positioning based on the parameter, and position information calculating means for calculating position information based on the determined satellite signal.

  Since an appropriate setting parameter corresponding to the position is notified from the positioning correction information providing device, accurate positioning is possible by using this setting parameter. As the setting parameter, for example, the minimum value of the elevation angle of the positioning satellite used for positioning can be mentioned. The higher the elevation angle of the satellite, the more accurate positioning can be achieved without being affected by buildings.

  A fifth aspect of the present invention is a satellite positioning device that determines a positioning parameter to be used for satellite positioning based on area information transmitted from a positioning correction information providing device, and performs positioning using the positioning parameter. More specifically, the satellite positioning device according to the present embodiment includes satellite signal receiving means for receiving satellite signals transmitted from a plurality of positioning satellites, and area information for receiving area information that is information related to the current position. A receiving means; a storage means for storing the relationship between area information and setting parameters for satellite positioning; a satellite signal determining means for determining a satellite signal to be used for positioning based on the setting parameters related to the received area information; Position information calculating means for calculating position information based on the satellite signal.

  The area information is information obtained by classifying the position according to a predetermined standard. For example, the identifier of the area (region) including the position, the road width at the position, the height of the building around the position (average height or Maximum height), and the opening degree of the sky in the elevation direction at the position. According to the present embodiment, since positioning can be performed using an appropriate setting parameter depending on the location where the satellite positioning device is located, accurate positioning is possible.

The present invention can be understood as a positioning correction information providing device or a satellite positioning device including at least a part of the above means. The present invention can also be understood as a satellite positioning system including the positioning correction information providing device and the satellite positioning device. The present invention can also be understood as a satellite positioning information providing method performed in the positioning correction information providing apparatus or a satellite positioning method performed in the satellite positioning apparatus. Furthermore, the present invention can also be understood as a computer program for causing a computer to execute these methods, or a computer-readable storage medium that stores the computer program in a non-temporary manner. Each of the above means and processes can be combined with each other as much as possible to constitute the present invention.

  ADVANTAGE OF THE INVENTION According to this invention, the positioning accuracy in a satellite positioning apparatus can be improved, setting a satellite positioning apparatus as an inexpensive structure.

FIG. 1A is a diagram showing an outline of a satellite positioning system according to the present invention, and FIG. 1B is a diagram showing a configuration of an in-vehicle terminal (positioning correction information providing device) and a pedestrian terminal (satellite positioning device) constituting the satellite positioning system. It is. It is a figure which shows the functional block of the vehicle-mounted terminal concerning Embodiment 1. FIG. It is a flowchart which shows the flow of the satellite information transmission process which the vehicle-mounted terminal concerning Embodiment 1 performs. It is a figure which shows the functional block of the pedestrian terminal concerning Embodiment 1. FIG. It is a flowchart which shows the flow of the positioning process which the pedestrian terminal concerning Embodiment 1 performs. It is a figure which shows the functional block of the vehicle-mounted terminal concerning Embodiment 2. FIG. It is a flowchart which shows the flow of the satellite information transmission process which the vehicle-mounted terminal concerning Embodiment 2 performs. It is a figure which shows the functional block of the vehicle-mounted terminal concerning Embodiment 3. FIG. It is a flowchart which shows the flow of the satellite information transmission process which the vehicle-mounted terminal concerning Embodiment 3 performs. It is a figure which shows the functional block of the vehicle-mounted terminal concerning Embodiment 4. FIG. It is a flowchart which shows the flow of the satellite information transmission process which the vehicle-mounted terminal concerning Embodiment 4 performs. It is a figure which shows the functional block of the vehicle-mounted terminal concerning Embodiment 5. FIG. It is a flowchart which shows the flow of the satellite information transmission process which the vehicle-mounted terminal concerning Embodiment 5 performs. It is a figure which shows the functional block of the vehicle-mounted terminal concerning Embodiment 6. FIG. It is a flowchart which shows the flow of the satellite information transmission process which the vehicle-mounted terminal concerning Embodiment 6 performs. It is a figure which shows the functional block of the vehicle-mounted terminal concerning Embodiment 8. FIG. It is a flowchart which shows the flow of the satellite information transmission process which the vehicle-mounted terminal concerning Embodiment 8 performs. It is a figure which shows the functional block of the vehicle-mounted terminal concerning Embodiment 11. FIG. It is a flowchart which shows the flow of the satellite information transmission process which the vehicle-mounted terminal concerning Embodiment 11 performs. It is a figure which shows the functional block of the pedestrian terminal concerning Embodiment 11. FIG. It is a flowchart which shows the flow of the positioning process which the pedestrian terminal concerning Embodiment 11 performs.

[Embodiment 1]
(System overview)
As one embodiment of the present invention, it is composed of an in-vehicle terminal and a pedestrian terminal, the correction information in satellite positioning is transmitted from the in-vehicle terminal to the pedestrian terminal, and the pedestrian terminal performs satellite positioning using this correction information. The satellite positioning system that can improve the positioning accuracy by doing will be explained. In the present embodiment, as the correction information, information indicating which of the plurality of satellite signals is preferably used is employed.

  FIG. 1A is a schematic diagram of the satellite positioning system according to the present embodiment, and includes the in-vehicle terminal 10 provided in the vehicle 1 and the pedestrian terminal 20 owned by the user 2 as described above. FIG. 1B is a diagram illustrating device configurations of the in-vehicle terminal 10 and the pedestrian terminal 20. Both the in-vehicle terminal 10 and the pedestrian terminal 20 have GNSS devices 11 and 22, can receive a GNSS satellite signal, and can calculate a current position based on the satellite signal. Here, the in-vehicle terminal 10 uses the sensor 14 such as the gyro 14a and the pedometer 14b mounted on the vehicle 1 and map data to obtain position information obtained from the GNSS satellite signal based on autonomous navigation, map matching, and the like. It can be corrected. On the other hand, the pedestrian terminal 20 does not have such a sensor and does not perform correction processing of position information so that it can be manufactured relatively inexpensively.

  Hereinafter, each structure with which the vehicle-mounted terminal 10 and the pedestrian terminal 20 are provided is demonstrated easily.

The GNSS device 11 receives a signal (hereinafter referred to as a satellite signal) transmitted from a satellite 3 of a global navigation satellite system (GNSS) and calculates position information based on the satellite signal. It is. As an example of GNSS, GPS (Global
Positioning System), Galileo, GLONASS, Hokuto and the like.
In the present embodiment, it is assumed that GPS is adopted, but any GNSS can be adopted.

  The GNSS device 11 receives satellite signals transmitted from a plurality of GNSS satellites 3 and calculates the current position from the arrival time (difference between transmission time and reception time). The calculation of the current position may be performed by the GNSS device 11 or the CPU 13.

The wireless device 12 is a device that performs wireless communication with the wireless device 22 of the pedestrian terminal 20. The radio system used by the radio device 12 may be arbitrary, for example, a system using CSMA / CA (Career Sense Multiple Access / Collision Avoidance) using 700 MHz band as an access procedure, and DSRC using 5.8 GHz band. (Dedicated Short Range Communication) or WiFi (wireless LAN) can be employed. In addition, Bl
Uetoth (registered trademark), ZigBee, UWB (Ultra Wide Band), visible light communication, etc. may be adopted.

  The wireless device 12 may be used to communicate not only with the pedestrian terminal 20 (the wireless device 22) but also with other vehicles 1 and roadside devices. In FIG. 1B, only one wireless device 12 is mounted on the in-vehicle terminal 10, but a plurality of wireless devices 12 may be mounted on the in-vehicle terminal 10.

  A CPU (Central Processing Unit) 13 executes a program stored in a memory (not shown) to generate and transmit satellite positioning correction information for the pedestrian terminal 20, It is a device that provides various functions described below, such as calculating the position of the. Although FIG. 1 shows that the in-vehicle terminal 10 has only one CPU 13, the in-vehicle terminal 10 may have a plurality of CPUs 13, and in addition to the CPU, a DSP (Digital Signal Processor) or an FPGA (Field A Programmable Gate Array), an ASIC (Application Specific Integrated Circuit), or the like may be used (combined).

  The in-vehicle terminal 10 includes a sensor 14 such as a gyro 14a and a pedometer 14b, and map information 15. The gyro 14a is a sensor for detecting an angle and an angular velocity. The travel meter 14 b is a sensor for detecting the moving speed and moving distance of the vehicle 1. The map information 15 is a database including information such as roads and surrounding buildings.

  Since the GNSS device 21, the radio device 22, and the CPU 23 included in the pedestrian terminal 20 are the same as the GNSS device 11, the radio device 12, and the CPU 13 included in the in-vehicle terminal 10, description thereof will not be repeated.

(In-vehicle terminal: satellite information generation and transmission processing)
Next, satellite positioning correction information generation / transmission processing performed by the in-vehicle terminal 10 will be described with reference to FIGS. The in-vehicle terminal 10 corresponds to the positioning correction information providing apparatus according to the present invention. FIG. 2 is a diagram showing functional blocks of the in-vehicle terminal 10, and FIG. 3 is a flowchart showing a processing flow. These functions are realized by the CPU 13 executing a program, but part or all of the functions may be realized by a dedicated hardware device.

  In the present embodiment, the in-vehicle terminal 10 generates, as correction information, information (satellite information) indicating which satellite signal combination can be measured with the most accurate positioning among the satellite signals that can be captured. Send.

  As shown in FIG. 2, the in-vehicle terminal 10 according to the present embodiment includes a GNSS receiving unit 101, a positioning calculation unit 102, a satellite combination calculation unit 103, an error calculation unit 105, a satellite information generation unit 107, and a wireless communication unit as its functional units. 108. Hereinafter, processing performed by each functional unit will be described along the flow of processing with reference to the flowchart of FIG. 3.

  The GNSS receiving unit 101 receives a GNSS satellite signal from the GNSS apparatus 11 (S101). There are dozens of GNSS satellites, and basically the GNSS apparatus 11 can capture a plurality of them. The GNSS receiver 101 receives all of these securable satellite signals.

  The satellite combination calculation unit 103 obtains a combination of satellite signals equal to or more than the minimum number of satellites necessary for positioning (stored as the predetermined number 104 in the storage unit) from the satellite signals received by the GNSS reception unit 101 ( S102). For example, when the GNSS receiving unit 101 receives 10 satellite signals and the predetermined number 104 is “4”, all combinations for extracting 4 to 10 of the received 10 satellite signals are obtained.

  The satellite combination obtained by the satellite combination calculation unit 103 is notified to the positioning calculation unit 102, and the positioning calculation unit 102 calculates a positioning result for each combination using only the satellite signals included in the combination (S103). The pseudo distance of the satellite is obtained by multiplying the difference between the transmission time and the reception time of one satellite signal by the speed of light, and an equation for the distance between the position of the in-vehicle terminal 10 (unknown) and the position of the GNSS satellite (known) As a result, the position of the in-vehicle terminal 10 is obtained. In addition, since the positioning method based on a satellite signal is known, detailed description is abbreviate | omitted.

  The error calculation unit 105 compares the positioning result (position information) obtained by the positioning calculation unit 102 based on a certain combination of satellite signals with the detailed (accurate) position information of the in-vehicle terminal 10, and calculates the error. Obtained (S104). It is assumed that accurate position information of the in-vehicle terminal 10 is stored as an absolute position 106 in the storage unit. The accurate position information of the in-vehicle terminal 10 can be obtained, for example, by subjecting the positioning result based on the GNSS satellite signal to correction processing such as autonomous navigation, map matching, or DGPS or RTK-GPS. The error calculation unit 105 notifies the satellite combination calculation unit 103 of the calculated error.

The satellite combination calculation unit 103 determines a combination of satellite signals that minimizes the error calculated by the error calculation unit 105 (S105). Then, the satellite information generation unit 107 is notified of the combination. At this time, it is also preferable to notify the satellite information generation unit 107 of the positioning result error (minimum error) using the satellite signals of the combination and the received power of each satellite signal. The satellite information generation unit 107 generates satellite information based on the information notified from the satellite combination calculation unit 103. The wireless communication unit 108 transmits the generated satellite information to the pedestrian terminal 20 via the wireless device 12 (S106).

In this way, the combination of satellite signals with the least positioning error in the in-vehicle terminal 10 is determined and transmitted to the pedestrian terminal 20.
Note that the wireless communication unit 108 preferably transmits the generated satellite information with transmission power corresponding to the current position of the in-vehicle terminal 10. The range in which the influence of multipath is considered to be the same is different depending on the position, and the range is narrow (for example, about several tens of meters) in urban areas and wide (for example, about several hundred meters) in rural areas. Therefore, the effective range of the satellite information varies depending on the location, and if the satellite information is transmitted with the transmission power corresponding to this range, it is efficient because unnecessary wireless transmission can be reduced. The in-vehicle terminal 10 can determine appropriate transmission power at the time of transmission by storing appropriate transmission power for each position in advance or by acquiring the transmission power from another device through wireless communication.

(Pedestrian terminal: positioning process)
Next, a positioning process performed by the pedestrian terminal 20 will be described with reference to FIGS. The pedestrian terminal 20 receives satellite positioning correction information (satellite information) from the in-vehicle terminal 10 and performs positioning using this. The pedestrian terminal 20 corresponds to the satellite positioning device in the present invention. FIG. 4 is a diagram showing functional blocks of the pedestrian terminal 20, and FIG. 5 is a flowchart showing its processing flow. These functions are realized by the CPU 23 executing a program, but a part or all of the functions may be realized by a dedicated hardware device.

  In the present embodiment, the pedestrian terminal 20 basically performs positioning using a combination of satellite signals included in the satellite information notified from the in-vehicle terminal 10.

  As shown in FIG. 4, the pedestrian terminal 20 in this embodiment has a radio communication unit 121, a GNSS radio unit 122, a positioning satellite selection unit 123, and a positioning calculation unit 125 as functional units. Hereinafter, processing performed by each functional unit will be described along the flow of processing with reference to the flowchart of FIG.

  The wireless communication unit 121 receives satellite information through wireless communication with the in-vehicle terminal 10 (S121). As described above, this satellite information includes a combination of satellite signals that minimize the positioning error in the in-vehicle terminal 10, the minimum error, and the received power of each satellite signal.

  The GNSS radio unit 122 receives a GNSS satellite signal from the GNSS device 21 (S122). The GNSS radio unit 122 receives all satellite signals that can be captured by the GNSS device 21.

The positioning satellite selection unit 123 uses the satellite information received from the in-vehicle terminal 10 to determine which satellite signal from among the satellite signals that can be received by the GNSS radio unit 122 is used for positioning. Specifically, a satellite signal that satisfies all of the following conditions is specified (selected) (S123).
-Included in the combination of satellite signals shown in the satellite information received from the in-vehicle terminal 10-Receivable at the pedestrian terminal 20-The difference between the received power at the in-vehicle terminal 10 and the received power at the pedestrian terminal 20 is below the threshold

The positioning satellite selection unit 123 determines whether the number of satellite signals satisfying the above condition is equal to or greater than the minimum number of satellites necessary for positioning (stored as the necessary number of satellites 124 in the storage unit) (S124). If the number of satellites satisfying the above condition is equal to or greater than the required number of satellites (S124-YES), the positioning satellite selection unit 123 determines a combination of satellite signals satisfying the above condition as a combination of satellite signals used for positioning (S125). . Conversely, if the number of satellites satisfying the above conditions is less than the required number of satellites (S124-NO), a preferred satellite signal is added according to a predetermined standard until the required number of satellites is reached, and the satellite signal used for positioning is added. A combination is determined (S126). As the predetermined standard, for example, a standard in which priority is given to a signal having a large received power at the pedestrian terminal 20 or a standard in which a satellite signal having a large elevation angle is prioritized can be considered. In addition, when the additional information regarding a satellite signal is transmitted from the vehicle-mounted terminal 10, the combination of the satellite signal used for positioning can also be determined using the information. This point will be described in another embodiment.

  The positioning satellite selection unit 123 notifies the positioning calculation unit 125 of the determined combination of satellite signals, and the positioning calculation unit 125 calculates the position of the pedestrian terminal 20 using the notified combination of satellite signals (S127). .

(Operation and effect of this embodiment)
According to the present embodiment, the pedestrian terminal 20 accurately acquires the position information without including an expensive sensor in the pedestrian terminal 20 and without performing a calculation with a high processing load on the pedestrian terminal 20. Can do. This is because if the satellite signal is affected by multipath, the positioning result using the satellite signal has a large error, and therefore the satellite information transmitted from the in-vehicle terminal 10 is affected by the multipath. Satellite signals are not included. Since the pedestrian terminal 20 can perform positioning using satellite signals that are not affected by multipath, positioning with high accuracy is possible.

  In addition, the reason why the satellite signals having greatly different reception powers in the in-vehicle terminal 10 and the pedestrian terminal 20 are not used for positioning is that this satellite signal may be influenced by multipath in the pedestrian terminal 20. . Since the influence of the multipath varies depending on the location, a satellite signal that is not affected by the multipath at the position of the in-vehicle terminal 10 may be affected by the multipath at the position of the pedestrian terminal 20, and vice versa. If the received power difference is different, the satellite signal is considered to be affected by multipath in any of the terminals, so that the positioning accuracy can be improved by not using such a satellite signal for positioning.

  In addition, since received power changes also with the performance of a receiver, in order to exclude the difference in the performance of a receiver, it is preferable to employ | adopt the following structures. That is, the in-vehicle terminal 10 includes the maximum received power or the average received power and the current received power in the latest predetermined period for each satellite signal in the satellite information. Similarly, the pedestrian terminal 20 obtains the difference between the maximum received power or the average received power and the current received power within the most recent predetermined period for each satellite signal. The pedestrian terminal 20 compares the difference included in the satellite information with the difference in its own device, determines that the satellite signal having a large difference between the two is affected by multipath, and uses it for positioning. More preferably not.

  According to this embodiment, even if the pedestrian terminal 20 has a low-cost configuration, accurate positioning is possible by using the correction information notified from the in-vehicle terminal 10.

[Embodiment 2]
In the present embodiment, the in-vehicle terminal 10 determines whether each satellite signal is affected by multipath, and transmits the multipath influence degree to the pedestrian terminal 20.

(In-vehicle terminal)
The basic configuration of the in-vehicle terminal 10 of this embodiment is the same as that of FIG. 1 shown in the first embodiment, and the processing performed by the CPU 13 is different. The satellite positioning correction information generation / transmission process in this embodiment will be described below with reference to FIGS.

  As illustrated in FIG. 6, the in-vehicle terminal 10 according to the present embodiment includes a GNSS receiving unit 201, a correlator 202, an arrival time estimating unit 204, a satellite information generating unit 205, and a wireless communication unit 206 as functional units. Hereinafter, processing performed by each functional unit will be described along the flow of processing with reference to the flowchart of FIG.

  When the GNSS receiving unit 201 receives a satellite signal (S201), the received signal is passed to the correlator 202, and the correlator 202 calculates a delay profile of each received signal (S202). The calculation of the delay profile is performed by calculating the correlation between the correlation code 203 for each satellite signal stored in the storage unit and the received signal.

  The arrival time estimation unit 204 calculates the arrival time for each of the direct wave and the delayed wave based on the delay profile, whether or not the received satellite signal includes a delayed wave. The result converted from the arrival time to the pseudorange and the reception level are output (S203). Whether or not the received satellite signal includes a delayed wave can be determined by determining whether or not there are a plurality of peaks (maximum points) in the delay profile. The arrival times of the direct wave and the delayed wave can be acquired from the positions of the respective peaks.

  The satellite information generation unit 205 receives the presence / absence of the delayed wave, the pseudorange and the reception level of the direct wave and the delayed wave from the arrival time estimation unit 204, and generates satellite information based on the information. The wireless communication unit 206 transmits the generated satellite information to the pedestrian terminal 20 via the wireless device 12 (S204). Note that the satellite information may be specified as a satellite signal that is inappropriate to use a satellite signal with a delayed wave for positioning, or a satellite signal without a delayed wave may be used for positioning. It may be specified as an appropriate satellite signal, or information on both of them may be included. Further, the satellite signal may include the reception level of the delayed wave as an appropriate degree. Further, the satellite signal preferably includes the reception power of each satellite signal.

(Pedestrian terminal)
Next, the pedestrian terminal 20 will be described. The configuration of the pedestrian terminal 20 is the same as that of the first embodiment, but the processing performed by the pedestrian terminal 20, particularly the selection processing of satellite signals used for positioning is different.

  In this embodiment, the presence / absence of a delayed wave and the reception level thereof are notified as satellite information from the in-vehicle terminal 10. Since the presence of the delayed wave means that it is affected by multipath, the pedestrian terminal 20 in this embodiment is notified that the delayed wave is present among the satellite signals that can be captured by the own device. The satellite signals other than the satellite signals are determined to be used for positioning.

That is, when a satellite signal that does not have a delayed wave is specified in the satellite information (when a satellite signal that is appropriate to be used for positioning is specified), a satellite signal that can be received by the pedestrian terminal 20. Therefore, the satellite signal included in the satellite information is determined as the satellite signal used for positioning. At this time, if the number of satellite signals satisfying this condition exceeds the number of satellite signals necessary for positioning, all satellite signals satisfying this condition may be used for positioning, or received power is further narrowed down from among them. The satellite signal used for positioning may be determined based on the angle of elevation or the elevation angle. Conversely, if the number of satellite signals satisfying the above conditions is less than the number of satellite signals necessary for positioning, the pedestrian terminal 20 can receive satellite signals that are received from the other satellite signals. According to a predetermined standard such as the angle of elevation or the elevation angle, selection may be made until the number of satellite signals necessary for positioning is reached. That is, from satellite signals that are not specified to be suitable for positioning in the satellite information, the pedestrian terminal 20 selects the signals that are used in positioning in descending order of the received power at the pedestrian terminal 20, What is necessary is just to select as what is used for positioning in an order from a thing with a big elevation angle, and should determine a required number of satellite signals. Similarly to the above, when the satellite information includes the received power of each satellite signal at the in-vehicle terminal 10, if the received power and the received power at the pedestrian terminal 20 are different, the satellite signal is used for positioning. It is also preferred to determine that there is no. When the received power is different between the in-vehicle terminal 10 and the pedestrian terminal 20, the degree of influence of the multipath is different between the positions of the in-vehicle terminal 10 and the pedestrian terminal 20, and the satellite signal received by the pedestrian terminal 20 is affected by the multipath. Because there is a possibility that.

  In addition, when a satellite signal that includes a delayed wave is specified in the satellite information (when a satellite signal that is inappropriate for positioning is specified), the satellite signal that can be received by the pedestrian terminal Thus, a satellite signal not included in the satellite information is determined as a satellite signal used for positioning. When the number of satellite signals satisfying this condition exceeds or is less than the number of satellite signals necessary for positioning, the satellite signals used for positioning may be determined based on the same criteria as described above.

  Further, when the satellite information includes the reception level of the delayed wave related to each satellite signal (when the satellite signal includes an appropriate level used for positioning), the appropriate level is selected from the satellite signals that can be received by the pedestrian terminal 20. A satellite signal having a high value may be preferentially selected, and the number of satellite signals necessary for positioning may be selected. Similarly to the above, when the satellite information includes the received power of each satellite signal at the in-vehicle terminal 10, if the received power and the received power at the pedestrian terminal 20 are different, the satellite signal is used for positioning. It is also preferred to determine that there is no.

  As described above, the pedestrian terminal 20 can determine, based on the satellite information transmitted from the in-vehicle terminal 10, that the satellite signal that can be estimated to be less affected by the multipath is used for positioning. Therefore, the positioning accuracy in the pedestrian terminal 20 can be improved.

(effect)
Also according to the present embodiment, as in the first embodiment, the positioning accuracy at the pedestrian terminal 20 can be improved while the pedestrian terminal 20 has an inexpensive configuration.

[Embodiment 3]
In the present embodiment, the in-vehicle terminal 10 determines whether or not each satellite signal is affected by the multipath, and transmits the multipath influence degree to the pedestrian terminal 20 in the second embodiment. Similar. However, the present embodiment is different from the second embodiment in that the multipath influence degree is obtained by comparing the received power of the satellite signal with the received power estimated from the positional relationship between the positioning satellite 3 and the in-vehicle terminal 10. To do.

(In-vehicle terminal)
The basic configuration of the in-vehicle terminal 10 of this embodiment is the same as that of FIG. 1 shown in the first embodiment, and the processing performed by the CPU 13 is different. Hereinafter, with reference to FIG. 8 and FIG. 9, generation / transmission processing of satellite positioning correction information in the present embodiment will be described.

  As shown in FIG. 8, the in-vehicle terminal 10 in the present embodiment includes a GNSS receiving unit 301, a received power estimating unit 304, a received power calculating unit 305, a received power difference calculating unit 306, a satellite information generating unit 308, as functional units. A wireless communication unit 309 is included. Hereinafter, processing performed by each functional unit will be described along the flow of processing with reference to the flowchart of FIG. 9.

  First, the in-vehicle terminal 10 acquires orbit information of the GNSS satellite (S301). This acquisition method is not particularly limited, and may be acquired by any method. For example, orbit information may be acquired from the satellite signal by the GNSS device 11. Or you may acquire from a surrounding apparatus with the radio | wireless machine 12. FIG. The acquired orbit information is stored as satellite orbit information 302 in the storage unit. The trajectory information may be acquired at an arbitrary timing.

  The in-vehicle terminal 10 also acquires detailed position information of the own device (S302). As described in the first embodiment, this is performed by acquiring accurate position information by correction using autonomous navigation or map matching, or correction using DGPS or RTK-GPS. Detailed position information of the in-vehicle terminal 10 is stored as position information 303 in the storage unit.

  The received power estimation unit 304 calculates the distance to each GNSS satellite from the position information 303 of the in-vehicle terminal 10 and the satellite orbit information 302, and receives the satellite signal from each GNSS satellite in the in-vehicle terminal 10 based on this distance. The power is estimated (S303).

  When the GNSS receiver 301 receives a satellite signal (S304), the received power calculator 305 calculates the actual received power of the satellite signal. The reception power difference calculation unit 306 calculates, for each satellite signal, a difference between the actual reception power calculated by the reception power calculation unit 305 and the reception power estimated by the reception power estimation unit 304, and the difference is stored. It is determined whether it is within the predetermined threshold value 307 stored in the section (S305). This threshold value 307 is a value that can be considered that the accuracy of positioning using the satellite signal deteriorates beyond the allowable range when the difference is larger than that.

  The satellite information generation unit 308 receives the determination result and / or difference from the received power estimation unit 304 and generates satellite information based on the information, and the wireless communication unit 309 transmits the generated satellite information to the wireless device. 12 to the pedestrian terminal 20 (S306). The satellite information may specify satellite signals whose difference exceeds a threshold value, may specify satellite signals whose difference is within the threshold value, or include both of them. But you can. In addition, the satellite signal preferably includes not only the difference between the estimated and actual received power and the determination result of the threshold value, but also the difference therebetween. This difference is because it can be regarded as an appropriate degree of using the satellite signal for positioning. Further, the satellite signal preferably includes the reception power of each satellite signal.

(Pedestrian terminal)
Since the configuration and processing of the pedestrian terminal 20 are similar to those of the second embodiment, they will be briefly described. In the present embodiment, the in-vehicle terminal 10 notifies the satellite information as to whether or not the received power is as estimated based on the positional relationship. A satellite signal whose received power is not as estimated is likely to be affected by multipath. Therefore, the pedestrian terminal 20 in the present embodiment may determine that the satellite signal whose received power is not as estimated is not used for positioning, and that the satellite signal whose received power is as estimated is used for positioning. Since the difference between the estimated received power and the actual received power can be used as the degree of multipath influence, if the number of satellite signals whose difference is within the threshold is not enough for the required number of satellites, this difference is small. Signals may be added with priority.

(effect)
Also according to the present embodiment, as in the first embodiment, the positioning accuracy at the pedestrian terminal 20 can be improved while the pedestrian terminal 20 has an inexpensive configuration.

[Embodiment 4]
In the present embodiment, the in-vehicle terminal 10 determines whether or not each satellite signal is affected by the multipath, and transmits the multipath influence degree to the pedestrian terminal 20 in the second embodiment. Similar. However, this embodiment is different from the second embodiment in that the multipath influence degree is obtained by determining whether or not the satellite signal from the GNSS satellite can be directly received using the position information and the map information.

(In-vehicle terminal)
The basic configuration of the in-vehicle terminal 10 of the present embodiment is the same as that shown in FIG.
Processing performed by the PU 13 is different. Hereinafter, with reference to FIG. 10 and FIG. 11, generation / transmission processing of satellite positioning correction information in the present embodiment will be described.

  As shown in FIG. 10, the in-vehicle terminal 10 in the present embodiment includes a direct wave estimation unit 404, a satellite information generation unit 405, and a wireless communication unit 406 as functional units. Hereinafter, processing performed by each functional unit will be described along the flow of processing with reference to the flowchart of FIG. 9.

  First, the in-vehicle terminal 10 acquires orbit information of the GNSS satellite (S401). The trajectory information acquisition method is arbitrary as described in the third embodiment. The acquired orbit information is stored as satellite orbit information 401 in the storage unit. The trajectory information may be acquired at an arbitrary timing.

  Further, the detailed position of the in-vehicle terminal 10 is stored as the position information 402 in the storage unit. Detailed position information of the in-vehicle terminal 10 may be acquired by the method described in the first and third embodiments. In addition, map information 403 is stored in the storage unit. The map information 403 in the present embodiment includes not only information on roads but also information on the height of buildings and other features.

  The direct wave estimation unit 404 uses the satellite orbit information 401 of the GNSS satellite 3, the detailed position information 402 of the in-vehicle terminal 10, and the map information 403 to determine whether the GNSS device 11 can receive a direct wave from the GNSS satellite 3. Is determined (S402). For example, when a building is located on a straight line connecting the in-vehicle terminal 10 and the GNSS satellite 3, it can be determined that direct waves cannot be received.

  The satellite information generation unit 405 generates satellite information based on the determination result by the direct wave estimation unit 404, and the wireless communication unit 406 transmits the generated satellite information to the pedestrian terminal 20 via the wireless device 12 ( S403). The satellite information may specify satellite signals that can receive direct waves, may specify satellite signals that cannot receive direct waves, or include both of them. But you can.

(Pedestrian terminal)
Since the configuration and processing of the pedestrian terminal 20 are similar to those of the second embodiment, they will be briefly described. In the present embodiment, the in-vehicle terminal 10 notifies the satellite information as to whether the direct wave is a receivable satellite signal. Satellite signals that can receive direct waves are less affected by multipath. Therefore, the pedestrian terminal 20 in this embodiment determines a satellite signal used for positioning from satellite signals that can receive direct waves (or satellite signals that cannot receive direct waves).

  When the number of satellites necessary for positioning cannot be obtained by the selection criteria, an additional satellite signal may be determined according to the predetermined criteria as described in the first embodiment.

  Further, the satellite information transmitted by the in-vehicle terminal 10 includes the received power of each satellite signal, and the satellite signals having greatly different satellite signal reception powers in the in-vehicle terminal 10 and the pedestrian terminal 20 may not be used for positioning. .

(effect)
Also according to the present embodiment, as in the first embodiment, the positioning accuracy at the pedestrian terminal 20 can be improved while the pedestrian terminal 20 has an inexpensive configuration.

[Embodiment 5]
In the present embodiment, the in-vehicle terminal 10 determines whether each satellite signal is affected by multipath, and transmits the multipath influence degree to the pedestrian terminal 20 in the second embodiment.
Similar to. However, the present embodiment is different from the second embodiment in that the multipath influence degree is obtained based on a comparison between the pseudorange of each GNSS satellite calculated by the pedestrian terminal 20 and the pseudorange calculated by the own terminal. .

(In-vehicle terminal)
The basic configuration of the in-vehicle terminal 10 of this embodiment is the same as that of FIG. 1 shown in the first embodiment, and the processing performed by the CPU 13 is different. Hereinafter, with reference to FIG. 12 and FIG. 13, generation / transmission processing of satellite positioning correction information in the present embodiment will be described.

  As shown in FIG. 12, the in-vehicle terminal 10 according to the present embodiment includes a GNSS receiving unit 501, a pseudo distance calculating unit 502, a pedestrian terminal pseudo distance receiving unit 503, a difference calculating unit 504, and a satellite information generating unit 506 as functional units. And a wireless communication unit 507. Hereinafter, processing performed by each functional unit will be described along the flow of processing with reference to the flowchart of FIG. 13.

  When the GNSS receiver 501 receives a satellite signal (S501), the received signal is passed to the pseudorange calculator 502, and the pseudorange calculator 502 calculates the pseudorange of each GNSS satellite (S502). The pseudo distance is obtained by multiplying the difference between the transmission time and the reception time of the satellite signal by the speed of light.

  Further, the pedestrian terminal pseudo distance receiving unit 503 receives the pseudo distance calculated by the pedestrian terminal 20 via the wireless device 12 (S503). In the present embodiment, the pedestrian terminal 20 also calculates the pseudorange of each satellite from the satellite signal received in the same manner as the in-vehicle terminal 10, and transmits it to the in-vehicle terminal 10 via the wireless device 22.

  The difference calculation unit 504 determines whether or not the difference between the pseudo distance calculated by the pseudo distance calculation unit 502 and the pseudo distance acquired from the pedestrian terminal 20 is within the threshold 505 (S504). The threshold value 505 is stored in advance in the storage unit. The threshold value 505 is a value that can be considered that the accuracy of positioning using the satellite signal deteriorates beyond an allowable range when the difference in the pseudo distance is larger than that.

  The satellite information generation unit 506 generates satellite information based on whether or not the difference between the two pseudo distances is within the threshold value 505, and the wireless communication unit 507 transmits the satellite information to the pedestrian terminal 20 via the wireless device 12. (S505). The pseudo distances calculated by the in-vehicle terminal 10 and the pedestrian terminal 20 are basically the same. That this difference is large can be considered that the satellite signal received by either the in-vehicle terminal 10 or the pedestrian terminal 20 is affected by the multipath. Note that there is a difference in the pseudo distance depending on the difference between the time (clock) of the in-vehicle terminal 10 and the time (clock) of the pedestrian terminal 20. Therefore, it is also preferable to subtract the average value or minimum value of the pseudo-range difference of each satellite signal from the pseudo-range calculated by the in-vehicle terminal or the pedestrian terminal so as to cancel the difference due to the clock difference.

  The satellite information generated by the satellite information generation unit 506 may be information that the difference in the pseudoranges of the satellite signals is within the threshold value, or information that the difference in the pseudoranges of the satellite signals is greater than the threshold value. Alternatively, the difference of the pseudo distance of the satellite signal itself may be included. The pseudo-range difference can be grasped as the degree of multipath influence.

(Pedestrian terminal)
The configuration and processing of the pedestrian terminal 20 are similar to those of the second embodiment. However, in the present embodiment, the pedestrian terminal 20 has a function of calculating a pseudo distance from each of the satellite signals received from the GNSS device 21 and transmitting the pseudo distance to the in-vehicle terminal 10 via the wireless device 22. This is different from the embodiment.

  Moreover, in this embodiment, it is notified from the vehicle-mounted terminal 10 as a satellite signal whether the difference of a pseudo distance is more than a threshold value. It can be said that the larger the pseudo-range difference, the greater the influence of the multipath, and the smaller the pseudo-range difference, the less the multi-path influence. Therefore, in the present embodiment, the pedestrian terminal 20 determines a satellite signal to be used for positioning from satellite signals whose pseudorange difference is within a threshold value.

  When the number of satellites necessary for positioning cannot be obtained by the selection criteria, an additional satellite signal may be determined according to the predetermined criteria as described in the first embodiment.

  Further, the satellite information transmitted by the in-vehicle terminal 10 includes the received power of each satellite signal, and the satellite signals having greatly different satellite signal reception powers in the in-vehicle terminal 10 and the pedestrian terminal 20 may not be used for positioning. .

(effect)
Also according to the present embodiment, as in the first embodiment, the positioning accuracy at the pedestrian terminal 20 can be improved while the pedestrian terminal 20 has an inexpensive configuration.

[Embodiment 6]
In the present embodiment, the in-vehicle terminal 10 determines whether or not each satellite signal is affected by the multipath, and transmits the multipath influence degree to the pedestrian terminal 20 in the second embodiment. Similar. However, the present embodiment is different from the second embodiment in that the multipath influence degree is obtained based on the change amount of the pseudo distance calculated from the satellite signal.

(In-vehicle terminal)
The basic configuration of the in-vehicle terminal 10 of this embodiment is the same as that of FIG. 1 shown in the first embodiment, and the processing performed by the CPU 13 is different. Hereinafter, with reference to FIG. 14 and FIG. 15, generation / transmission processing of satellite positioning correction information in the present embodiment will be described.

  As illustrated in FIG. 14, the in-vehicle terminal 10 according to the present embodiment includes a GNSS reception unit 601, a pseudo distance calculation unit 602, a change amount calculation unit 603, a change amount comparison unit 604, a satellite information generation unit 606, a wireless unit as its functional units. A communication unit 607 is included. Hereinafter, processing performed by each functional unit will be described along the flow of processing with reference to the flowchart of FIG. 15.

  When the in-vehicle terminal 10 receives the GNSS satellite signal (S601), it calculates a pseudo distance based on the received satellite signal and stores the calculated pseudo distance (S602). The reception of the satellite signal and the calculation of the pseudo distance are repeatedly executed, and a plurality of calculated pseudo distances are accumulated.

  The change amount calculation unit 603 calculates the change amount of the pseudo distance in the latest predetermined period (for example, about several seconds to about 10 seconds) (S603). The change amount may be, for example, the difference between the maximum value and the minimum value of the pseudo distance, or may be variance.

  The change amount comparison unit 604 determines whether the calculated change amount of the pseudo distance is within a predetermined threshold value 605 (S604). When affected by multipath, the pseudorange changes greatly, but when not affected by multipath, the pseudorange stabilizes. You can determine whether you are affected or not. The threshold value 605 is stored in advance in the storage unit. In addition, the threshold value 605 is a value that can be considered that the accuracy of positioning using the satellite signal deteriorates beyond an allowable range when the change amount of the pseudo distance is larger than that.

  The satellite information generation unit 606 generates satellite information based on the comparison result by the change amount comparison unit 604, and the wireless communication unit 607 transmits the satellite information to the pedestrian terminal 20 via the wireless device 12 (S605). The satellite information may specify satellite signals whose change amount is within the threshold value, may specify satellite signals whose change amount is greater than the threshold value, or both. May be. The satellite information also preferably includes the pseudo-range change amount itself. This is because the larger the amount of change, the greater the influence of multipath, which can be used as an index representing the degree of multipath influence.

(Pedestrian terminal)
The configuration and processing of the pedestrian terminal 20 are similar to those of the second embodiment. In this embodiment, since the satellite information based on the temporal change of the pseudo distance is transmitted from the in-vehicle terminal 10, the pedestrian terminal determines a satellite signal with a small pseudo distance variation (below the threshold) as a satellite signal used for positioning. To do.

  When the number of satellites necessary for positioning cannot be obtained by the selection criteria, an additional satellite signal may be determined according to the predetermined criteria as described in the first embodiment.

  Further, the satellite information transmitted by the in-vehicle terminal 10 includes the received power of each satellite signal, and the satellite signals having greatly different satellite signal reception powers in the in-vehicle terminal 10 and the pedestrian terminal 20 may not be used for positioning. .

(effect)
Also according to the present embodiment, as in the first embodiment, the positioning accuracy at the pedestrian terminal 20 can be improved while the pedestrian terminal 20 has an inexpensive configuration.

[Embodiment 7]
The present embodiment is similar to the sixth embodiment, but instead of calculating the temporal change of the pseudorange from the satellite signal, the temporal change of the phase (carrier phase) is calculated, and the sixth embodiment is based on the amount of the change. Similar processing is performed. Even when the phase is used, it is apparent that the same effect can be obtained by the same method as in the sixth embodiment using the pseudorange.

[Embodiment 8]
In the present embodiment, the in-vehicle terminal 10 determines whether or not each satellite signal is affected by the multipath, and transmits the multipath influence degree to the pedestrian terminal 20 in the second embodiment. Similar. However, this embodiment differs from Embodiment 2 in that the multipath influence degree of a certain GNSS satellite is obtained based on the positioning accuracy calculated from other satellite signals.

(In-vehicle terminal)
The basic configuration of the in-vehicle terminal 10 of this embodiment is the same as that of FIG. 1 shown in the first embodiment, and the processing performed by the CPU 13 is different. Hereinafter, with reference to FIG. 16 and FIG. 17, generation / transmission processing of satellite positioning correction information in the present embodiment will be described.

  As shown in FIG. 16, the in-vehicle terminal 10 according to the present embodiment includes a GNSS receiving unit 801, a positioning calculation unit 802, a satellite combination calculation unit 803, an error calculation unit 804, a satellite information generation unit 806, and a wireless communication unit as its functional units. 807. Hereinafter, processing performed by each functional unit will be described along the flow of processing with reference to the flowchart of FIG.

  When the GNSS receiving unit 801 receives a satellite signal (S801), a combination of receivable satellite signals is notified to the positioning calculation unit 802. The positioning calculation unit 802 calculates a positioning result using all the receivable satellite signals (S802).

  The combination of satellite signals that can be received by the GNSS receiver 801 is also notified to the satellite combination calculator 803. The satellite combination calculation unit 803 generates a combination of satellite signals excluding any one satellite signal from all the satellite signals that can be captured (S803). For example, when 10 satellite signals can be received, 10 combinations of 9 satellite signals from which the respective satellite signals are excluded are generated.

  For each combination generated by the satellite combination calculation unit 803, the positioning calculation unit 802 calculates a positioning result using only the satellite signal included in the combination (S804). The error calculation unit 804 compares the error of the positioning result of step S802 using all receivable satellite signals with the error of the positioning result of step S804 calculated excluding one satellite signal (S805). The correct (detailed) position information of the in-vehicle terminal 10 can be obtained by correction using autonomous navigation or map matching, or correction using DGPS or RTK-GPS, as described in the first embodiment. It is assumed that the absolute position 805 is stored in the storage unit. By performing the positioning by removing one satellite signal by the processing in step S805, it is possible to determine whether the positioning accuracy has improved or deteriorated as compared with the positioning using all the satellite signals.

  The amount of change in positioning accuracy is notified to the satellite information generation unit 806, and the satellite information generation unit 806 generates satellite information based on the amount of change (S806). If the positioning error is reduced when the position is calculated using a combination of satellite signals excluding a certain satellite signal, it can be determined that the excluded satellite signal is greatly affected by multipath. On the other hand, if the position accuracy deteriorates or does not change by the exclusion, it can be determined that the satellite signal is not significantly affected by the multipath. That is, it is possible to grasp the degree of multipath influence of the excluded satellite signal based on the amount of change in positioning accuracy, and this degree of multipath influence is generated as satellite information.

  Note that here, the multipath influence is determined by determining how much the positioning accuracy is improved compared to the positioning results using all receivable satellite signals, but all receivable satellite signals are The same processing can be performed without using the positioning result using. That is, for each combination of satellite signals excluding a certain satellite signal, the magnitude of the error with the absolute position 805 of the in-vehicle terminal 10 is compared, and the larger the error, the more the degree of multipath influence of the excluded satellite signal. It can be judged that it is small.

  The satellite information may be information for identifying a satellite signal that is greatly affected by multipath, or may be information for identifying a satellite signal that is not significantly affected by multipath, You may include both of them. The satellite signal preferably includes the degree of multipath influence.

  The satellite information generated by the satellite information generation unit 806 is transmitted by the wireless communication unit 309 to the pedestrian terminal 20 via the wireless device 12 (S806).

(Pedestrian terminal)
Since the configuration and processing of the pedestrian terminal 20 are similar to those of the second embodiment, they will be briefly described. In this embodiment, the in-vehicle terminal 10 notifies the degree of multipath influence for each positioning satellite as satellite information. Therefore, the pedestrian terminal 20 in the present embodiment may determine a satellite signal having a small multipath influence degree as a satellite signal used for positioning while avoiding a satellite signal having a large multipath influence degree. In addition, when the number of satellite signals determined according to such a standard is smaller than the required number of satellites, for example, the one with a low delay wave reception level or one with a small difference in pseudorange between the direct wave and the delay wave, etc. Add it preferentially. Similarly to the first embodiment, a satellite signal having a large received power or a satellite signal having a large elevation angle may be preferentially added.

(effect)
Also according to the present embodiment, as in the first embodiment, the positioning accuracy at the pedestrian terminal 20 can be improved while the pedestrian terminal 20 has an inexpensive configuration.

[Embodiment 9]
In this embodiment, when the pedestrian terminal 20 receives satellite information from a plurality of in-vehicle terminals 10, the satellite signal used for positioning is determined using the plurality of satellite information. Below, the process in the pedestrian terminal 20 is demonstrated according to the kind of satellite information transmitted.

When satellite signals that are not affected by multipath are specified in the satellite information In this case, the pedestrian terminal 20 is affected by multipath in all the satellite information received from the plurality of in-vehicle terminals 10. The satellite signal specified as not being determined is determined as the satellite signal used for positioning. Alternatively, instead of all satellite information, a satellite signal that is identified as not affected by multipath in satellite information of a predetermined ratio or more may be determined as a satellite signal used for positioning.

In the case where the satellite signal affected by the multipath is specified in the satellite information In this case, the pedestrian terminal 20 is specified as being affected by the multipath in at least one of the satellite information The satellite signals are excluded and other satellite signals are determined as satellite signals used for positioning. Alternatively, satellite signals identified as being affected by multipath in at least a predetermined ratio of satellite information may be excluded.

When the satellite information includes a combination of satellite signals suitable for positioning and a positioning error when positioning is performed using the combination, in this case, the pedestrian terminal 20 determines which combination of satellite signals in consideration of the positioning error. You can decide what to use. For example, it is conceivable to perform positioning using a combination of satellite signals with the smallest positioning error. Alternatively, it is conceivable to perform positioning by preferentially using a combination having a positioning error smaller than a predetermined threshold.

In the case where the satellite information includes the multipath influence degree In this case, the pedestrian terminal 20 weights the multipath influence degree included in each satellite information with a weight according to a predetermined reference. For example, it is conceivable that the received power of the satellite information received from the in-vehicle terminal 10 is used as a weight, and the weight is increased as the received power is increased. That is, a large weight is given to the satellite information transmitted from the nearby in-vehicle terminal 10. Satellite information whose received power is smaller than a certain reference value may be ignored.

  Whether or not the satellite signal is affected by the multipath may be determined according to whether or not the multipath influence degree obtained by weighting is greater than the threshold value.

  Even when the satellite information indicates whether or not it is affected by multipath, weighting based on received power can be performed.

(effect)
According to the present embodiment, when the pedestrian terminal 20 receives satellite information from the plurality of in-vehicle terminals 10, accurate positioning is possible based on the plurality of satellite information.

[Embodiment 10]
In the first embodiment, a combination of satellite signals to be used for positioning is determined by the in-vehicle terminal 10 and this combination is transmitted to the pedestrian terminal 20. At this time, the combination of satellite signals to be used for positioning employs a combination that calculates a positioning result for all combinations among satellite signals that can be received by the in-vehicle terminal 10 and has the smallest error.

  In the second to eighth embodiments, the in-vehicle terminal 10 determines whether or not each satellite signal is affected by multipath or the degree of multipath influence. Here, when a certain satellite signal is affected by multipath, it is desirable not to use the satellite signal for positioning. Therefore, in the present embodiment, unlike the first embodiment, the signal can be received by the in-vehicle terminal 10 instead of all the satellite signals that can be received by the in-vehicle terminal 10, and at least one of the second to eighth embodiments. A combination of satellite signals to be used for positioning is determined from among combinations of satellite signals that are determined not to be affected by multipath (or less affected by multipath).

  Since the above configuration can be realized by combining any of the first embodiment and any of the second to eighth embodiments, detailed descriptions of the configurations and processes of the in-vehicle terminal 10 and the pedestrian terminal 20 according to the present embodiment are omitted.

  In the present embodiment, the in-vehicle terminal 10 determines whether each satellite signal is affected by the multipath, in addition to the combination of the satellite signals to be used for positioning, or whether the degree of the multipath is affected by the satellite. It is preferable to transmit to the pedestrian terminal 20 as information.

(effect)
According to this embodiment, the in-vehicle terminal 10 can obtain a combination of satellite signals to be used for positioning more accurately. Therefore, the positioning accuracy in the pedestrian terminal 20 is further improved.

[Embodiment 11]
In the present embodiment, the vehicle-mounted terminal 10 does not send information related to individual positioning satellites to the pedestrian terminal 20, but transmits information related to setting parameters when performing satellite positioning in the pedestrian terminal 20. More specifically, the setting parameter corresponding to the position of the pedestrian terminal 20 is transmitted from the in-vehicle terminal 10 to the pedestrian terminal 20.

(In-vehicle terminal)
The basic configuration of the in-vehicle terminal 10 of this embodiment is the same as that of FIG. 1 shown in the first embodiment, and the processing performed by the CPU 13 is different. The satellite positioning correction information generation / transmission process according to the present embodiment will be described below with reference to FIGS.

  As shown in FIG. 18, the in-vehicle terminal 10 according to the present embodiment includes a GNSS receiving unit 1101, a positioning calculation unit 1102, an area determination unit 1103, an area parameter selection unit 1104, a satellite information generation unit 1105, and a wireless communication unit as its functional units. 1106. Hereinafter, processing performed by each functional unit will be described along the flow of processing with reference to the flowchart of FIG.

    When the GNSS receiving unit 1101 receives the GNSS satellite signal (S1101), the positioning calculation unit 1102 performs positioning based on the received satellite signal (S1201). Here, positioning may be performed using only satellite signals, or positioning may be performed using a combination of DGPS and map matching.

The area determination unit 1103 determines the area number of the current position of the in-vehicle terminal 10 based on the positioning result by the positioning calculation unit 1102 (S1103). The area definition information 1107 stores the range of each area and the area number in association with each other. For example, when the area is rectangular, the area definition information 1107 stores position information (latitude / longitude information) of the four corners of each area. The area determination unit 1103 acquires the area number of the current position based on the positioning result of the positioning calculation unit 1102 and the area definition information 1107.

  The area parameter selection unit 1104 selects a setting parameter (hereinafter also referred to as an area parameter) used for positioning according to the area where the in-vehicle terminal 10 is located (S1104). The area table 1108 stores area parameters in association with each area number. As the area parameter, for example, a condition regarding a satellite signal used for positioning is included. For example, the minimum elevation angle of the satellite signal used for positioning corresponds to the area parameter. In urban areas and mountainous areas, direct waves cannot be received unless the satellite has a large elevation angle, whereas in plain areas, even a satellite with a small elevation angle can receive direct waves. Therefore, the minimum elevation angle (mask elevation angle) of the satellite that is preferably used for positioning differs depending on the area. The area parameter selection unit 1104 acquires an area parameter corresponding to the area number of the current position from the area table 1108.

  Here, the minimum elevation angle of the satellite used for positioning is described as an example of the area parameter, but the area parameter may be any other setting parameter, for example, the minimum number of satellites used for positioning, Satellite number that prohibits use, minimum signal level of satellite signal used for positioning (mask signal level), smoothing coefficient, dynamic coefficient, switching threshold between 2D positioning and 3D positioning, altitude during 2D positioning, etc. You can also.

  The satellite information generation unit 1105 receives the area parameter selected by the area parameter selection unit 1104, generates positioning correction information including the area parameter, and the wireless communication unit 1106 transmits the positioning correction information to the pedestrian terminal via the wireless device 12. Is transmitted (S1105).

(Pedestrian terminal)
The basic configuration of the pedestrian terminal 20 of this embodiment is the same as that of FIG. 1 shown in the first embodiment, and the processing performed by the CPU 23 is different. Hereinafter, the satellite positioning process in the present embodiment will be described with reference to FIGS.

  As illustrated in FIG. 20, the pedestrian terminal 20 in the present embodiment includes a wireless communication unit 1121, a GNSS wireless unit 1122, an area parameter setting unit 1123, and a positioning calculation unit 1124 as functional units. Hereinafter, processing performed by each functional unit will be described along the flow of processing with reference to the flowchart of FIG.

  The wireless communication unit 1121 receives the positioning correction information through wireless communication with the in-vehicle terminal 10 (S1121). As described above, this positioning correction information includes an area parameter corresponding to the position of the in-vehicle terminal 10.

  The GNSS radio unit 1122 receives a GNSS satellite signal from the GNSS apparatus 11 (S1122). The GNSS radio unit 1122 receives all satellite signals that can be captured by the GNSS apparatus 11.

  The area parameter setting unit 1123 receives the positioning correction information received by the wireless communication unit 1121, and notifies the positioning calculation unit 1124 of the area parameters included in the positioning correction information so as to be used for positioning (S1123). ). For example, when the positioning correction information includes the minimum value of the elevation angle of the satellite used for positioning, this setting parameter is set in the positioning calculation unit 1124.

The positioning calculation unit 1124 calculates the positioning result using the parameters set by the area parameter selection unit 1104.

(effect)
According to the present embodiment, the pedestrian terminal 20 can perform positioning calculation using an appropriate setting parameter according to the position, and thus the positioning accuracy is improved. In addition, since the pedestrian terminal does not need to memorize | store the definition information of an area and an appropriate setting parameter (area parameter) in each area, the memory capacity of a pedestrian terminal can be reduced.

(Modification)
In the present embodiment, an area number is used as the area information, but the area information may be any information as long as the information can be classified according to a predetermined standard. For example, as area information, in addition to the area number including the current position, the road width at the position, the height of the building around the position (average height and maximum height), and the opening degree of the sky in the elevation direction at the position Etc. can also be adopted. Such information is stored in the map information, and the in-vehicle terminal 10 may acquire the area information at the current position from the map information.

  In addition, in the pedestrian terminal 20, if an appropriate area parameter in each area (which may be specified by an area number or may be specified by other area information) is stored, the pedestrian from the in-vehicle terminal 10 By notifying the terminal 20 of the area information, the same effect as described above can be obtained. In this case, it is necessary to store area parameters corresponding to each area information in the pedestrian terminal 20, but compared with the case where the current position and area information are acquired in the pedestrian terminal 20, the pedestrian terminal 20 The configuration can be simplified.

[Others]
The above embodiments can be used in combination as much as possible. For example, the multipath influence degree of each satellite signal can be determined using a plurality of scales of Embodiments 2 to 8. Moreover, you may transmit both the information regarding a satellite signal, and the information regarding an area parameter from a vehicle-mounted terminal to a pedestrian terminal.

  In the above description, the device that generates and transmits positioning correction information is an in-vehicle terminal, and the device that performs positioning is a pedestrian terminal. However, the configuration of the present invention is not limited thereto. The device for generating / transmitting the positioning correction information (positioning correction information providing device) may be a moving device other than the in-vehicle terminal or a fixed device that does not move. The device that performs positioning is preferably a device that can be carried by the user, that is, a smartphone, a multi-function mobile phone, a tablet computer, a notebook computer, or the like, but is not necessarily limited thereto.

1: Vehicle 10: In-vehicle terminal 2: User 20: Pedestrian terminal 3: GNSS satellite 11: GNSS device 12: Radio 13: CPU
21: GNSS device 22: Radio 23: CPU

Claims (37)

A positioning correction information providing device that provides information on positioning satellites to a satellite positioning device that performs satellite positioning,
Satellite signal receiving means for receiving satellite signals transmitted from a plurality of positioning satellites;
Satellite information generating means for generating satellite information which is information on positioning satellites;
Transmitting means for transmitting the satellite information to the satellite positioning device;
With
The satellite information includes, for at least one positioning satellite, information indicating appropriateness of using a satellite signal from the positioning satellite for positioning.
Positioning correction information providing device. The positioning correction information providing device according to claim 1,
The positioning correction information providing apparatus, wherein the information indicating appropriateness is information for identifying a satellite signal appropriate for use in positioning. The positioning correction information providing device according to claim 1,
The positioning correction information providing apparatus, wherein the information indicating appropriateness is information for specifying a satellite signal inappropriate to be used for positioning. The positioning correction information providing device according to claim 1,
The information indicating the appropriateness is a positioning correction information providing apparatus which is an appropriate degree related to using a satellite signal from the positioning satellite for positioning. The positioning correction information providing device according to claim 2,
Position information acquisition means for acquiring position information of the own device with higher accuracy than positioning by satellite positioning only;
Position information calculation means for calculating position information based on satellite signals;
Prepared,
The satellite information generating means includes
Based on any combination of satellite signals transmitted from the plurality of positioning satellites, position information is calculated by the position information calculation means,
A satellite signal included in a combination that minimizes an error from the position information acquired by the position information acquisition unit is determined as a satellite signal suitable for use in positioning;
Positioning correction information providing device. The positioning correction information providing device according to claim 5,
The satellite information generating means includes the smallest error in the satellite information;
Satellite information provision device. The positioning correction information providing device according to any one of claims 1 to 4,
Delay profile calculating means for calculating a delay profile of the satellite signal;
From the delay profile, a delay wave determination means for determining whether a delay wave is included in the satellite signal;
With
The satellite information generating means generates the satellite information based on a determination result by the delayed wave determining means;
Positioning information providing device. The positioning correction information providing device according to any one of claims 1 to 4,
Orbit information acquisition means for acquiring orbit information of the plurality of positioning satellites;
Position information acquisition means for acquiring position information of the own device;
For each of the plurality of positioning satellites, received power estimation means for estimating the received power of the satellite signal from the positioning satellite from the orbit information of the positioning satellite and the position information of the own device;
With
The satellite information generating means generates the satellite information based on the difference between the received power estimated by the received power estimating means and the actual received power received by the satellite signal receiving means;
Positioning correction information providing device. The positioning correction information providing device according to any one of claims 1 to 4,
Orbit information acquisition means for acquiring orbit information of the plurality of positioning satellites;
Map information storage means for storing map information including building information;
Position information acquisition means for acquiring position information of the own device;
Determining means for determining whether or not the satellite signal from the positioning satellite is in a positional relationship based on the orbit information of the positioning satellite, the position information of the own device, and the map information;
With
The satellite information generation means generates the satellite information based on a determination result by the determination means;
Positioning correction information providing device. The positioning correction information providing device according to any one of claims 1 to 4,
Pseudo-range receiving means for receiving the pseudo-range of the positioning satellite generated from the satellite positioning device based on the satellite signal received by the satellite positioning device;
A pseudorange calculating means for calculating a pseudorange of a positioning satellite based on the satellite signal received by the satellite signal receiving means;
With
The satellite information generating means generates the satellite information based on a difference between the pseudo distance received from the satellite positioning device and the pseudo distance calculated by the pseudo distance calculating means;
Positioning correction information providing device. The positioning correction information providing device according to any one of claims 1 to 4,
A pseudorange calculating means for calculating a pseudorange of a positioning satellite based on the satellite signal received by the satellite signal receiving means;
The satellite information generating means generates the satellite information based on a change amount of a pseudo distance in a most recent predetermined period calculated from a satellite signal.
Positioning correction information providing device. The positioning correction information providing device according to any one of claims 1 to 4,
Phase acquisition means for acquiring the phase of the satellite signal received by the satellite signal reception means,
The satellite information generating means generates the satellite information based on the amount of phase change in the most recent predetermined period calculated from the satellite signal.
Positioning correction information providing device. The positioning correction information providing device according to any one of claims 1 to 4,
Position information acquisition means for acquiring position information of the own device with higher accuracy than positioning by satellite positioning only;
Position information calculation means for calculating position information based on satellite signals;
With
Based on all satellite signals received by the satellite signal receiving means, the first position information is calculated by the position information calculating means,
Based on the satellite signal excluding any one satellite signal among the satellite signals received by the satellite signal receiving means, the position information calculating means calculates the second position information,
The satellite information generating means generates the satellite information based on the difference between the first position information and the position information of the own apparatus, and the difference between the second position information and the position information of the own apparatus.
Positioning correction information providing device. It is a positioning correction information provision apparatus of any one of Claims 1-13,
The satellite information generating means includes the received power in the satellite signal receiving means in the satellite information for each of the satellite signals transmitted from the plurality of positioning satellites received by the satellite signal receiving means.
Positioning correction information providing device. The positioning correction information providing device according to claim 14,
The satellite information generating means is configured to determine the maximum received power or the average received power within the most recent predetermined period for each of the satellite signals transmitted from the plurality of positioning satellites received by the satellite signal receiving means. To include,
Positioning correction information providing device. The positioning correction information providing device according to any one of claims 1 to 15,
The satellite information generating means includes the pseudo distance of each positioning satellite calculated based on satellite signals transmitted from the plurality of positioning satellites received by the satellite signal receiving means, in the satellite information.
Positioning correction information providing device. It is a positioning correction information provision apparatus of any one of Claims 1-16,
The transmission means transmits the satellite information at transmission power determined for each area where the device is located.
Positioning correction information providing device. A positioning correction information providing device for providing a setting parameter when performing satellite positioning to a satellite positioning device that performs satellite positioning,
Position information acquisition means for acquiring position information of the own device;
Storage means for storing the relationship between area information, which is information related to position information, and setting parameters in satellite positioning;
Transmitting means for transmitting setting parameters related to area information obtained from the position information of the own device to the satellite positioning device;
A positioning correction information providing device. The positioning correction information providing device according to claim 18,
The setting parameter is a minimum value of the elevation angle of the satellite to be used for positioning.
Positioning correction information providing device. Satellite signal receiving means for receiving satellite signals transmitted from a plurality of positioning satellites;
Satellite information receiving means for receiving satellite information including information indicating the appropriateness of using a satellite signal from the positioning satellite for use in positioning for at least one positioning satellite;
Satellite signal determining means for determining a satellite signal to be used for positioning based on the satellite information;
Position information calculating means for calculating position information based on the determined satellite signal;
A satellite positioning device. A satellite positioning device according to claim 20,
The satellite information includes one or more satellite signals suitable for use in positioning,
The satellite signal determining means determines a satellite signal included in the combination and receivable by the satellite signal receiving means as a satellite signal used for positioning;
Satellite positioning device. The satellite positioning device according to claim 21, wherein
The satellite information includes information on the received power of each satellite signal,
The satellite signal determination unit uses a satellite signal that further satisfies a condition that a difference between a reception power included in the satellite information and a reception power received by the satellite signal reception unit is equal to or less than a predetermined threshold for positioning. Decide as the satellite signal,
Satellite positioning device. The satellite positioning device according to claim 21 or 22,
When the number of satellite signals determined to be used for positioning in accordance with the above conditions is less than a predetermined number, the satellite signal determination means receives the satellite signal reception means by the number required to reach the predetermined number. Determine the satellite signal to be used for positioning according to a predetermined standard from the possible satellite signals;
Satellite positioning device. The satellite positioning device according to claim 23, wherein
The predetermined criterion is either a criterion that the received power in the satellite signal receiving means is large or a criterion that the elevation angle of the positioning satellite is high.
Satellite positioning device. A satellite positioning device according to claim 20,
The satellite information includes information indicating a satellite signal inappropriate to be used for positioning,
The satellite signal determining means uses satellite signals other than the satellite signals indicated by the satellite information as inappropriate for use in positioning among the satellite signals receivable by the satellite signal receiving means. As determined,
Satellite positioning device. A satellite positioning device according to claim 25,
The satellite signal determining means is a predetermined one of the satellite signals other than the satellite signals indicated by the satellite information as inappropriate for use in positioning among the satellite signals receivable by the satellite signal receiving means. Determine a predetermined number of satellite signals to use for positioning according to the criteria of
Satellite positioning device. The satellite positioning device according to claim 26, wherein
The predetermined criterion is either a criterion that the received power in the satellite signal receiving means is large or a criterion that the elevation angle of the positioning satellite is high.
Satellite positioning device. A satellite positioning device according to claim 20,
The satellite information includes an appropriate degree of using each satellite signal for positioning for one or more satellite signals,
The satellite signal determining means determines a satellite signal to be used for positioning based on the appropriate degree indicated in the satellite information from satellite signals receivable by the satellite receiving means.
Satellite positioning device. The satellite positioning device according to claim 28, wherein
The satellite signal determining means determines a satellite signal to be used for positioning from a satellite signal receivable by the satellite receiving means, in order from the highest appropriate degree indicated in the satellite information. To
Satellite positioning device. A satellite positioning device according to claim 29,
The satellite information includes information on the received power of each satellite signal,
The satellite signal determination unit uses a satellite signal that further satisfies a condition that a difference between a reception power included in the satellite information and a reception power received by the satellite signal reception unit is equal to or less than a predetermined threshold for positioning. Decide as the satellite signal,
Satellite positioning device. A satellite positioning device according to any one of claims 21 to 24,
The satellite information includes a combination of satellite signals suitable for use in positioning,
When the satellite information receiving means receives a plurality of satellite information, the satellite signals included in all of the plurality of satellite signals and receivable by the satellite signal receiving means are used for positioning. Decide as the satellite signal to use,
Satellite positioning device. A satellite positioning device according to any one of claims 21 to 24,
The satellite signal includes a combination of satellite signals suitable for use in positioning, and a positioning error when positioning is performed using the combination,
When the satellite information receiving means receives a plurality of satellite information, use satellite information including the smallest positioning error or use satellite information including a positioning error smaller than a predetermined threshold.
Satellite positioning device. The satellite positioning device according to any one of claims 25 to 27, wherein:
The satellite information includes satellite signals that are inappropriate for positioning,
When the satellite information receiving means receives a plurality of satellite information, a satellite signal included in any of the plurality of satellite signals is not determined as a satellite signal used for positioning,
Satellite positioning device. A satellite positioning device according to any one of claims 28 to 30, comprising:
The satellite information includes an appropriate degree related to using satellite signals for positioning,
When the satellite information receiving means receives a plurality of satellite information, it calculates a weighting appropriateness by weighting according to the reception level of each satellite information, and uses it for positioning based on the weighting appropriateness. Determine the satellite signal,
Satellite positioning device. Satellite signal receiving means for receiving satellite signals transmitted from a plurality of positioning satellites;
Satellite information receiving means for receiving setting parameters in satellite positioning;
Satellite signal determining means for determining a satellite signal to be used for positioning based on the setting parameter;
Position information calculating means for calculating position information based on the determined satellite signal;
A satellite positioning device. Satellite signal receiving means for receiving satellite signals transmitted from a plurality of positioning satellites;
Area information receiving means for receiving area information which is information related to the current position;
Storage means for storing the relationship between the area information and the setting parameters in satellite positioning;
Satellite signal determining means for determining a satellite signal to be used for positioning based on setting parameters related to the received area information;
Position information calculating means for calculating position information based on the determined satellite signal;
A satellite positioning device. A satellite positioning device according to claim 35 or 36, wherein:
The setting parameter is the minimum value of the elevation angle of the satellite to be used for positioning,
The satellite signal determining means determines a satellite signal from a positioning satellite having an elevation angle equal to or greater than the minimum value as a satellite signal used for positioning;
Satellite positioning device.

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