JP2017083212A - Positioning system and positioning method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a positioning system which can cover a wide area and measure a position with high accuracy at low cost.SOLUTION: A plurality of fixed base stations 16 are provided in the periphery of a traveling mobile object 11. A system terminal (position correction information generation device) 15 receives position correction information from the plurality of fixed base stations 16, and extracts/generates high-accuracy position correction information from the position correction information from the plurality of fixed base stations 16 on the traveling mobile object 11. A guidance device 12 and a mobile satellite receiver 13 (position measurement device) receive information from a satellite and measure a position of the traveling mobile object. The system terminal 15 supplies the extracted/generated high-accuracy position correction information with the guidance device 12, and the guidance device 12 corrects the position of the traveling mobile object 11 according to the high-accuracy position correction information from the system terminal 15 and generates high-accuracy position information.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a positioning system and a positioning method.

The use of GPS (Global Positioning System) positioning technology has become common in specifying the position of moving objects and improving traveling accuracy. Car navigation is popular because practical accuracy can be obtained by the complementary technology of GPS positioning and city maps such as roads. However, with GPS positioning, it is difficult to display an appropriate position on farmland or wild fields where there are no landmarks such as roads and building structures.
In the surveying field, an RTK (Real Time Kinematic) method that can improve accuracy is recognized and can be used at any time and place by the network. However, it is expensive to attempt to specify the position of a moving object and improve the running accuracy by using this RTK method for surveying, and it is difficult to use it on a daily basis.

  GPS positioning technology is also used to specify the position of traveling moving objects such as agricultural machinery and construction machinery and improve the accuracy of traveling routes, and it is used with a certain degree of accuracy in conjunction with guidance devices and automatic steering devices. The possibility is high. However, to apply to moving objects such as agricultural equipment for a long time at present, any of the above methods is not sufficient in terms of cost and accuracy.

  Therefore, in order to solve the problem with respect to cost and high accuracy, in a target area such as agriculture for the purpose of operating a traveling moving object, any multiple RTK type fixed base station and network line network constructed at an appropriate position, A system consisting of a system terminal mounted on a moving object, a central control unit, and a high-accuracy position / sensor integrated information storage device may be constructed to extract and generate high-accuracy position correction information on a traveling moving object. It is done. With this method, it is possible to realize both the cost and accuracy issues in specifying the position of the positioning target traveling moving object and increasing the accuracy of the travel route, and to accumulate and accumulate the highly accurate location information and sensor information. It becomes possible.

JP 2007-127665 A

  At present, due to the decrease in population in Japan, for example, in the agricultural sector, there is a strong aging trend and the number of farmers is decreasing, and at the same time, the area per unit of cultivation expands and agriculture to improve international competitiveness The work area such as On the other hand, when operating work equipment such as farming using agricultural equipment etc., it is necessary to run agricultural equipment with high precision on large-scale farms. Attempts to achieve large-scale and labor-saving have started.

  The use of positioning technology such as GPS is indispensable for automatic steering traveling on farmland or the like. Usually, a navigation system mounted on an automobile has a basic accuracy of 10 m in practical use in conjunction with a road map. However, the accuracy required for farming or the like requires a cm (centimeter) class accuracy so as not to deviate from the traveling route between the ridges. It is difficult to apply the conventional navigation system from the viewpoint of practical accuracy because of this necessary basic accuracy and because there are very few building structures used for specifying roads or positions in agricultural areas.

  The RTK method is widely used as one of high-accuracy realization methods using GPS. The RTK method is capable of positioning with accuracy in the cm class both theoretically and in terms of surveying location information service. The RTK method is also recognized by the Geospatial Information Authority of Japan, and is applied to surveying location information services that can be used nationwide. As fields of use other than surveying of this position information service for surveying, there are high-accuracy position specification of agricultural equipment and the like and high-precision traveling routes. However, unlike surveying, farming, etc. has been operating 24 hours in the busy agricultural season, etc., and there are many annual hours of use. There are no challenges.

  As an example of a field requiring high accuracy in the cm class, there is an RTK base station system as a method for further reducing costs by using RTK technology in a target area such as agriculture. This is the construction of RTK fixed base stations in the area unit that covers the target area for agriculture, etc., and the RTK position correction information based on the satellite information measured by the base station is a moving moving object such as agricultural equipment that operates in the area. By using satellite positioning information and RTK position correction information that are distributed by wireless etc. and installed on a moving moving object with satellite receiving equipment, etc., the position information is made highly accurate, and cm-class highly accurate position information Can be detected.

  By constructing an RTK-type fixed base station in an area for agriculture or the like, the cost can be improved compared to the continuous use of the location information service for surveying. However, this RTK base station system is characterized in that the error increases and the accuracy deteriorates as the distance (baseline distance) between the fixed base station and the traveling moving object that receives the RTK position correction information becomes longer as a feature of the RTK system. . Although the deterioration of accuracy differs depending on the local environment, sufficient cm class accuracy is obtained within a range of about 5 km (kilometers), and it is difficult to obtain the required accuracy at a distance of 10 km or more. In particular, when traveling data is accumulated, and the data is restored and used in the next process such as farming, there is a problem that errors accumulate and accuracy further deteriorates.

  Conventionally, in the RTK base station system, a traveling moving object to be positioned has acquired a position correction signal from a single RTK-type fixed base station to improve the position accuracy of the traveling moving object. The reason why the position correction signal acquired by the traveling moving object is one fixed base station is, for example, in the construction field, the construction machine is a target traveling moving object to be measured, and the traveling moving object such as this construction machine is This is because the movement is limited to the construction area and the movement period is specified during the construction period. Therefore, if a location suitable for covering the construction target area is selected, and one RTK-type fixed base station is temporarily installed at that location, necessary and sufficient RTK position correction information can be used.

  Also, as an example, in the agricultural field, an agricultural machine such as a tractor becomes a positioning target traveling moving object, and the tractor moves directly within the target farmland because it is directly related to the farmland, so the RTK position from one RTK fixed base station This is because necessary and sufficient position information can be acquired from the correction information. The same applies to the case where RTK position information is used in the entire area of a local government that owns farmland, etc., and a moving moving object such as a tractor is necessary and sufficient if a single RTK fixed base station can be used. Information can be obtained.

  However, as farmland grows in size, each agricultural management entity has a large agricultural machine that differs for each agricultural cultivation process due to the economic problem of having a large agricultural machine for each agricultural management unit. It has become difficult to continue to use efficiently. Therefore, an organization called a contractor is being generated.

  The contractor owns a large number of large agricultural machines, contracts the agricultural cultivation process requested by each agricultural management body, assigns the owned agricultural machines as requested, and performs the requested cultivation while moving over a wide area. Even with a contractor, it is difficult to secure skilled workers, so there is a movement to try automatic steering using high-precision position information. In the contractor, there is a problem in that the positioning moving object such as agricultural equipment generates position accuracy from one base station from the following two viewpoints.

  The first reason is that the farming area undertaken by the contractor has a large farming area to collect multiple farmland areas owned by one agricultural management body, and the operator who runs the farming machine, etc., contracts the farming process. , Change each time. For this reason, a steering person is required to have a skilled steering skill or rely on automatic steering traveling accuracy, and there is a problem of accuracy when traveling with a position accuracy obtained from one base station while moving a long distance. Occur. In particular, when the spring travel data is restored and used for summer weeding, there is a problem that the error in accuracy overlaps and the error increases.

  The second reason is that the contractor organization is contracted, so the price needs to be clarified. To that end, the location of the contracted area and the cultivation of culvert units, etc. must be clearly defined. Counting is required. Recording and accuracy of position information is important for counting. Deviation from the RTK state that occurs when the distance between one RTK fixed base station and a traveling moving object such as an agricultural machine is a long distance, Deterioration becomes a problem.

  In agriculture, etc., there are opportunities to accumulate detailed performance data such as farming in order to promote large-scale and labor-saving, and to analyze and utilize it to increase yield in the next term. In order to accumulate useful performance data, it is possible to automatically measure and collect integrated information linked with the implementation status of agriculture, etc., highly accurate location information, sensor information, etc., and efficiently accumulate it as big data This method is necessary.

  One of the challenges of realizing this method is automatic collection of high-accuracy position information in conjunction with time / sensor information. At present, in order to acquire position information, it is necessary to separately collect image information separately by aerial photography, using satellite images, etc., and then combine it with position information, and position information accuracy is rough There are challenges.

  In view of the above-described problems, an object of the present invention is to provide a positioning system and a positioning method that can cover a wide area and perform highly accurate position measurement at low cost.

  In order to solve the above-described problem, a positioning system according to one aspect of the present invention receives a plurality of fixed base stations provided around a traveling moving object and position correction information from the plurality of fixed base stations. A position correction information generating device that extracts and generates high-accuracy position correction information on a traveling moving object from position correction information from the plurality of fixed base stations, and a position of the traveling moving object by receiving information from a satellite. The position correction information generation device supplies the extracted and generated high-accuracy position correction information to the position measurement device, and the position measurement device receives the position correction information from the position correction information generation device. The high-precision position information is generated by correcting the position of the traveling moving object with high-precision position correction information.

  In the positioning method according to one aspect of the present invention, the position correction information generating device receives position correction information from a plurality of fixed base stations provided around a traveling moving object, and receives positions from the plurality of fixed base stations. A step of extracting and generating high-accuracy position correction information from the correction information on the traveling moving object; a step of supplying high-accuracy position correction information from the position correction information generation device to the position measurement device; , Receiving the information from the satellite to determine the position of the traveling moving object, and generating the high-accuracy position information by correcting the position of the traveling moving object with the high-accuracy position correction information from the position correction information generating device. And a step.

  According to the present invention, high-accuracy position correction information is extracted and generated on a traveling moving object from position correction information from a plurality of fixed base stations, and the measurement position is corrected. High-precision position can be measured at low cost.

It is explanatory drawing which shows the outline | summary of the positioning system which concerns on embodiment of this invention. It is explanatory drawing which shows the network connection of each part in the positioning system which concerns on embodiment of this invention. It is explanatory drawing which shows the network connection of each part in the positioning system which concerns on embodiment of this invention. It is explanatory drawing which shows the network connection of each part in the positioning system which concerns on embodiment of this invention. It is explanatory drawing of the real mode in the positioning system which concerns on embodiment of this invention. It is explanatory drawing of the virtual mode in the positioning system which concerns on embodiment of this invention. It is explanatory drawing of the module which comprises the RTK position correction information delivery apparatus in the positioning system which concerns on embodiment of this invention. It is a flowchart which shows the process in an authentication module. It is a flowchart which shows the process in a multi delivery interface module. It is explanatory drawing of the module which comprises the system terminal in the positioning system which concerns on embodiment of this invention. It is a flowchart which shows the process in a base station connection and reception module. It is a flowchart which shows the process in a real mode module. It is a flowchart which shows the process in a virtual mode module. 10 is a flowchart showing processing in a guidance interface module 65. It is a flowchart which shows the process in a highly accurate position information receiving module. It is explanatory drawing of highly accurate position and sensor integrated information. It is a flowchart which shows the process in a highly accurate position information integration module. It is a flowchart which shows the process in a network transmission interface module. It is explanatory drawing of the steering system of the tractor using the positioning system which concerns on the 1st Embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is an explanatory diagram showing an overview of a positioning system 1 according to an embodiment of the present invention.
As shown in FIG. 1, the positioning system 1 according to the first embodiment of the present invention includes a traveling moving object 11, a guidance device 12 (position measuring device) and a mobile satellite receiver 13, an automatic steering device 14, A system terminal (position correction information generation device) 15, an RTK fixed base station 16 (16-1, 16-2, 16-3,...), And an RTK position correction information distribution device 17 (17-1, 17-). 2, 17-3,...), A central control device 18, a high-precision position / sensor integrated information storage device 19, and a satellite 20 (20-1, 20-2,...).

The traveling moving object 11 is an agricultural tractor, for example.
The traveling moving object 11 is equipped with a guidance device 12, a mobile satellite receiver 13, and an automatic steering device 14.
The guidance device 12 is a device that supports the driving operation of the traveling moving object 11 using GPS.

  The mobile satellite receiver 13 receives satellite transmission information from a plurality of satellites 20 (20-1, 20-2,...) Orbiting the earth and supplies the satellite transmission information to the guidance device 12. As the satellite 20 (20-1, 20-2,...), A GLONASS (Global Navigation Satellite System) satellite or the like may be used in addition to the GPS satellite.

The guidance device 12 calculates a travel line based on the position information acquired from the GPS, the set field information, and the work content, and supports the driving operation of the travel moving object 11. As will be described later, the measurement position of the guidance device 12 is corrected by high-precision RTK position correction information from the system terminal 15.
The automatic steering device 14 automatically steers the traveling moving object 11 based on the control of the guidance device 12.

The system terminal 15 is a terminal such as a mobile phone network. Further, the system terminal 15 has a short-range wireless function such as a GPS function or BlueTooth (registered trademark). The system terminal 15 receives RTK position correction information from a plurality of fixed base stations 16 (16-1, 16-2, 16-3,...), Generates high-precision RTK position correction information, and sends it to the guidance device 12. Supply.
The guidance device 12 corrects the position information acquired from the satellite transmission information from the mobile satellite receiver 13 with the high-precision RTK position correction information from the system terminal 15 to generate high-precision position information.

Note that, as will be described later, the real mode and the virtual mode can be selected for generating the high-precision RTK position correction information in the system terminal 15.
In the real mode, the RTK position correction information from a plurality of actual fixed base stations 16 (16-1, 16-2, 16-3,. Position correction information is generated.
In the virtual mode, the system base 15 generates a virtual base station on the traveling moving object 11 using the RTK position correction information from a plurality of fixed base stations 16 (16-1, 16-2, 16-3,...). Then, high-precision RTK position correction information is generated from the RTK position correction information of the virtual base station.

  In addition, the system terminal 15 has high-accuracy position information obtained in real time from the guidance device 12 and sensor information at the same time (for example, a yield sensor, a flow sensor, an engine rotation / load sensor, a moisture sensor, a soil component sensor such as nitrogen). Are integrated and edited, and the integrated data is transmitted to the high-precision position / sensor integrated information storage device 19.

The high-precision position / sensor integrated information storage device 19 stores and stores integrated information of the high-accuracy position information and sensor information integrated and edited by the system terminal 15 as high-precision position / sensor integrated information. This high-accuracy position / sensor integrated information can be analyzed and utilized as big data to increase yield in the next period.
The high-accuracy position / sensor integrated information storage device 19 may be a device provided in the traveling moving object 11 or may be a device installed in an arbitrary place different from the traveling moving object 11. .

  A plurality of fixed base stations 16 (16-1, 16-2, 16-3,...) Are installed around the traveling moving object 11. The fixed base station 16 (16-1, 16-2, 16-3,...) Is provided with an RTK position correction information distribution device 17 (17-1, 17-2, 17-3,...). The fixed base station 16 (16-1, 16-2, 16-3,...) Receives satellite transmission information from the satellite 20 (20-1, 20-2,...).

The RTK position correction information distribution device 17 (17-1, 17-2, 17-3,...) Receives the satellite signal received by the fixed base station 16 (16-1, 16-2, 16-3,. It is converted into position correction information and distributed to the system terminal 15.
The central control device 18 collects system status log information accumulated in the system terminal 15 and sends the latest program information, connectable terminal information, and the like to the RTK position correction information distribution device 17 (17-1, 17-2, 17- 3,...) And the system terminal 15 to optimize the system state.

2, 3 and 4 are explanatory diagrams showing network connections of each part in the positioning system 1 according to the embodiment of the present invention.
As shown in FIG. 2, a network line network 21 is provided between the RTK position correction information distribution device 17 of the fixed base station 16 and the system terminal 15 of the traveling moving object 11.

  The RTK position correction information from the RTK position correction information distribution device 17 is distributed to the system terminal 15 via the network line network 21. Here, in the case of agriculture, for example, in the case of agriculture, there are many areas where roads, power sources, communication lines, etc. are not yet deployed, and the area between the traveling mobile object 11 and the fixed base station 16 is an example. The distance exceeds several kilometers. Therefore, it is desirable to use a mobile phone network which is a social capital as the network line network 21.

  As shown in FIG. 3, a traveling satellite object 13, a guidance device 12, and an automatic steering device 14 are attached to the traveling moving object 11. A system terminal 15 is provided in the traveling moving object 11. A portable terminal can be used as the system terminal 15. Since the distance between the system terminal 15 and the guidance device 12 is relatively short, such as several meters (meters), the network 22 between the system terminal 15 and the guidance device 12 is, for example, a wireless Bluetooth (registered trademark). It is desirable to use proximity communication such as

  Information transmission between the guidance device 12 and the automatic steering device 14 uses an in-vehicle LAN (Local Area Network) 23 or a wired cable in the traveling moving object 11. Various sensors such as a yield sensor 41, a flow sensor 42, an engine rotation / load sensor 43, a moisture sensor 44, and a soil component sensor 45 such as nitrogen are connected to the in-vehicle LAN 23. The sensor information is sent from the in-vehicle LAN 23 to the guidance device 12 or directly to the system terminal 15 and can be collected by the system terminal 15.

As shown in FIG. 4, program update / log monitoring information for optimizing the system state is transmitted and received by the RTK position correction information distribution device 17 and the system terminal 15 of the fixed base station 16 from the central control device 18 through the network 24. Is done.
Further, the system terminal 15 integrates the high-accuracy position information and the sensor information, and generates high-accuracy position / sensor integrated information. The high-accuracy position / sensor integrated information is transmitted to the high-accuracy position / sensor integrated information storage device 19 through the network 24. As the network 24 used in the system, a network that satisfies the position, environment, necessary cost, and necessary information amount of the devices constituting the system may be appropriately selected and used.

Next, processing for generating optimum RTK position correction information will be described. As described above, in the positioning system 1 according to the first embodiment of the present invention, the system terminal 15 provided in the traveling moving object 11 includes a plurality of fixed base stations 16 (16-1, 16-2, 16). -3, ...) is received, and high-precision RTK position correction is performed from the RTK position correction information from the plurality of fixed base stations 16 (16-1, 16-2, 16-3, ...). Information is extracted / generated and supplied to the guidance device 12.
For generation of high-precision RTK position correction information at the system terminal 15, a real mode or a virtual mode can be selected. First, the real mode will be described.

FIG. 5 is an explanatory diagram of the real mode.
In the real mode, optimum RTK position correction information is generated from RTK position correction information from actual fixed base stations 16 (16-1, 16-2, 16-3,...). In FIG. 5, it is assumed that a point Q is a true value position coordinate of the traveling moving object 11. It is assumed that the point O is the measurement position coordinate of the traveling moving object 11. Further, it is assumed that the points B1, B2, and B3 are the position coordinates of the fixed base stations 16-1, 16-2, and 16-3.

  In this example, the point B3 of the fixed base station 16-3 is at the position farthest from the traveling moving object 11, and the point B1 of the fixed base station 16-1 is next from the traveling moving object 11, and is fixed. It is assumed that the point B2 of the base station 16-2 is at a position closest to the traveling moving object 11. A difference (O−Q) between the measurement position coordinate O and the true value position coordinate Q is a measurement error Dr (Dr = O−Q). As the measurement error Dr is smaller, the accuracy of specifying the position information of the traveling moving object 11 in real time can be improved.

  In the RTK system, among the fixed base stations 16 (16-1, 16-2, 16-3,...) That can be used, the more accurate the correction is, the more the position correction information is from a fixed base station in the vicinity. Yes. Further, the distance Lrn between the position of an arbitrary fixed base station 16-n (n is an integer) and the position of the traveling moving object 11 changes as the traveling moving object 11 moves. In this example, the fixed base station 16-2 (point B2) is closest to the traveling moving object 11, and the RTK position correction information from the fixed base station 16-2 has the highest accuracy.

  Therefore, in the real mode, the system terminal 15 measures the distance between the traveling moving object 11 and each fixed base station 16 (16-1, 16-2, 16-3,...) In real time, and RTK position correction information from a fixed base station closest to the station 16 (16-1, 16-2, 16-3,...) Is output as high-precision RTK position correction information.

  That is, in the real mode, the system terminal 15 measures a distance Lrn (Lrn = Bn-On) between a plurality of surrounding fixed base stations 16-n and the position of the traveling moving object 11 (n is an integer), The distance Lrn is displayed on the system terminal 15 in ascending order, and a fixed base station that minimizes the distance Lrn is selected as optimum RTK position correction information. For example, in the example of FIG. 5, the distances Lr1, Lr2, and Lr3 between the fixed base stations 16-1, 16-2, and 16-3 and the position of the traveling moving object 11 are obtained as follows.

Lr1 = B1-O
Lr2 = B2-O
Lr3 = B3-O

  Among the distances Lr1, Lr2, and Lr3, since the distance Lr2 is the smallest, the RTK position correction information of the fixed base station 16-2 is selected as the optimum RTK position correction information. Thus, by supplying the RTK position correction information from the fixed base station with the smallest distance to the guidance apparatus 12 as the optimum RTK position correction information, the guidance apparatus 12 can generate highly accurate position information.

Next, the virtual mode will be described. FIG. 6 is an explanatory diagram of the virtual mode.
In the virtual mode, a virtual base station is generated from information of the surrounding fixed base stations 16 (16-1, 16-2, 16-3,...) That can be used, and optimal RTK position correction information is generated by the virtual base station. To do.

  In FIG. 6, it is assumed that a point Q is a true value position coordinate of the traveling moving object 11. Further, it is assumed that there is a fixed base station 16-1 at the point B1, and the coordinates of the fixed base station 16-1 are (XBa, YBa, ZBa). Further, it is assumed that there is a fixed base station 16-2 at the point B2, and the coordinates of the fixed base station 16-2 are (XBb, YBb, ZBb). Further, it is assumed that there is a fixed base station 16-3 at the point B3, and the coordinates of the fixed base station 16-3 are (XBc, YBc, ZBc). Also, assume that a virtual base station is generated at the point P, and the coordinates of this virtual base station are (Xp, Yp, Zp).

  The data structure of RTK position correction information includes satellite distance / time basic information, delay error information generated when satellite information passes through the ionosphere and troposphere, and bias information. Here, three elements of RTK calculation (satellite distance / time basic information Fa1, error information Fb1, bias information Fc1) in the fixed base station 16-1 and three elements of RTK calculation in the fixed base station 16-2 (satellite Distance / time basic information Fa2, error information Fb2, bias information Fc2) and three elements of RTK calculation (satellite distance / time basic information Fa3, error information Fb3, bias information Fc3) in the fixed base station 16-3 are acquired. Let's say.

  In this case, the three elements (satellite distance / time basic information FaP, error information FbP, bias information FcP) of the RTK calculation at the virtual base station of the point P at the point P coordinates (Xp, Yp, Zp) are fixed base stations. Three elements of RTK calculation 16-1, 16-2, 16-3 (satellite distance / time basic information Fa1, Fa2, Fa3, error information Fb1, Fb2, Fb3, bias information Fc1, Fc2, Fc3) and a fixed base The coordinates (XBa, YBa, ZBa), (XBb, YBb, ZBb), (XBc, YBc, ZBc) of the stations 16-1, 16-2, 16-3 and the coordinates (Xp, Yp, Zp) of the virtual base station And can be generated by extrapolation or interpolation calculation.

  From this, in the virtual mode, the system terminal 15 determines the virtual base station on the traveling moving object 11 from the information of a plurality of surrounding fixed base stations 16 (16-1, 16-2, 16-3,...). Is generated. Then, the RTK position correction information from the virtual base station is set as optimum RTK position correction information.

  Note that the high-accuracy position information is not only used during traveling, but is also used when a traveling position recorded at the time of traveling in advance is recorded and then another process is performed at the same point. As an example, it is a case where the spring travel record data in agriculture is restored and used at the time of fertilizer spraying in summer or the like. When traveling data is accumulated, and the data is restored and used for the next farming process, errors in position information are accumulated. For this purpose, it is important to select, extract, and generate highly accurate RTK position correction information during the first run.

  When the real mode and the virtual mode are compared, in the virtual mode, the virtual base station exists on the traveling moving object 11. From this, the distance Lp between the virtual base station and the traveling moving object 11 is the distance Lr1 between the fixed base station 16 (16-1, 16-2, 16-3,...) And the traveling moving object 11. , Lr2 and Lr3 are much shorter distances. Therefore, especially when the fixed base station 16 (16-1, 16-2, 16-3,...) Is in the distance, the virtual mode can be expected to have higher accuracy than the real mode.

  However, the virtual mode is more complicated to calculate than the real mode. From this, it is considered that the real mode and the virtual mode are properly used according to the distance between the traveling moving object 11 and the available fixed base station 16 (16-1, 16-2, 16-3,...). It is done. For example, when the distance between the usable fixed base station 16 (16-1, 16-2, 16-3,...) And the traveling moving object 11 is within a predetermined value, the fixed base that can be used using the real mode. When the distance between the station 16 (16-1, 16-2, 16-3,...) And the traveling moving object 11 exceeds a predetermined value, the virtual mode may be used.

  As described above, in the embodiment of the present invention, the real mode and the virtual mode can be set. In the real mode method, a plurality of fixed base stations 16 (16-1, 16-2, 16-3,...) Are constructed in the target area, and are linked in real time to the position where the traveling moving object 11 to be positioned moves, The fixed base station 16-k closest to the traveling moving object 11 is automatically selected and extracted and displayed on the system terminal 15. The traveling moving object 11 can always use the closest RTK position correction information by switching. For this reason, it is possible to continuously obtain optimum high-accuracy position information within the target area.

  In the virtual mode, from the information from the fixed base station 16 (16-1, 16-2, 16-3,...), The virtual base station is directly set in the system terminal 15 at the position of the traveling moving object 11 to be positioned. Configure and generate virtual RTK position correction information. Even when the distance between the fixed base station 16 (16-1, 16-2, 16-3,...) And the traveling moving object 11 becomes a long distance, highly accurate position information can be used.

  Further, in the virtual mode in the embodiment of the present invention, unlike the large-center processing using public coordinate values for providing the location information service for surveying and the transmission / reception method via the network, the fixed base station 16 (16− Since the known base station coordinate values of 1, 16-2, 16-3,...) Are used, it is not necessary to perform conversion to public coordinate values.

  Further, since the RTK position correction information corresponding to the position on the traveling moving object 11 is directly generated on the system terminal 15, there is no need for network intervention, network connection / transmission time delay loss is avoided, and overwhelming The system can be simplified, and the high accuracy required in agriculture and the like can be satisfied, and at the same time, the problem of cost can be solved.

FIG. 7 is an explanatory diagram of modules constituting the RTK position correction information distribution apparatus 17.
As shown in FIG. 7, the RTK position correction information distribution device 17 includes a fixed satellite information reception unit 51 and a correction information distribution unit 52.

  The fixed satellite information receiving unit 51 accurately measures the position and uses it as a base station. As the fixed satellite information receiver 51, it is desirable to use a multi-satellite multi-frequency receiver. The fixed satellite information receiving unit 51 generates an RTK signal in an RTCM (Radio Technical Commission for Maritime Services) format or the like.

  The correction information distribution unit 52 includes an authentication module 53, a multi-distribution interface module 54, and a terminal information table 55. The authentication module 53 receives the program update information from the central controller 18 and updates the program of the correction information distribution unit 52 to the latest state. Further, the authentication module 53 receives the information of the connection permitted terminal ID from the central control device 18 and updates the terminal information table 55 to the latest state.

  The authentication module 53 checks security information such as an ID (identifier) of the system terminal 15 when a position correction information distribution request arrives from the system terminal 15 mounted on the traveling moving object 11, and makes an appropriate response. When the system terminal 15 is determined, the connection is permitted. The multi-distribution interface module 54 distributes RTK position correction information received from the fixed satellite information receiving unit 51 to a plurality of connected system terminals 15. The terminal information table 55 stores information on connection-permitted terminal IDs.

  FIG. 8 is a flowchart showing processing in the authentication module 53. The authentication module 53 starts module operation by manual activation or time activation (step S101).

  The authentication module 53 accesses the central control device 18 and confirms whether or not there is a program or terminal information update (step S102).

  If there is an unupdated program (step S103: Yes), the authentication module 53 downloads and updates the correction information distribution program from the central controller 18 (step S104), and returns the process to step S102.

  If there is unupdated terminal information (step S105: Yes), the authentication module 53 updates the connection permission ID in the terminal information table 55 with the information from the central control device 18 (step S106), and processing Is returned to step S102.

  If there is no unupdated program (step S103: No) and there is no unupdated terminal information (step S105: No), the authentication module 53 determines whether or not a delivery request event from the system terminal 15 has occurred. Investigation is performed by activation or periodically (step S107).

  If there is a distribution request event (step S108: Yes), the authentication module 53 confirms the connection permission ID in the terminal information table 55 (step S109).

  If there is no distribution request event (step S108: No), the authentication module 53 returns the process to step S107.

  If it is determined in step S110 that there is a connection permission ID in the terminal information table 55 (step S110: Yes), the authentication module 53 turns on the distribution permission status in the terminal information table 55 (step S111), and multi-processes. It is delivered to the distribution interface module 54 (step S112).

  If it is determined in step S110 that there is no connection permission ID in the terminal information table 55 (step S110: No), the authentication module 53 returns the process to step S107.

  In FIG. 7, the multi-distribution interface module 54 shapes the RTK position correction information received from the fixed satellite information receiving unit 51 into a network transmission format (NTRIP (Networked Transport of RTCM via Internet Protocol) model) or the like. The multi-distribution interface module 54 generates RTK position correction information continuous streams for the number of connected system terminals 15 and distributes them to the system terminals 15.

FIG. 9 is a flowchart showing processing in the multi-distribution interface module 54.
The multi-distribution interface module 54 starts module operation (step S201). The multi-distribution interface module 54 continuously receives the RTK position correction information from the fixed satellite information receiving unit 51 (step S202), and can distribute the RTK position correction information from the fixed satellite information receiving unit 51 over the network. (Step S203).

  The multi-distribution interface module 54 periodically checks whether or not there is one whose distribution permission status is turned on in the terminal information table 55 (step S204).

  If there is one for which the distribution permission status in the terminal information table 55 is turned on (step S205: Yes), the multi-distribution interface module 54 identifies the system terminal 15 in which the distribution permission status in the terminal information table 55 is turned on. The RTK position correction information in the NTRIP format is continuously distributed to the target (step S206).

The multi-distribution interface module 54 checks whether a module stop event has occurred.
When the module stop event has not occurred (step S207: No), the multi-distribution interface module 54 returns the process to step S204.
If the module stop event has occurred (step S207: Yes), the multi-distribution interface module 54 ends the module operation.

FIG. 10 is an explanatory diagram of modules constituting the system terminal 15.
In FIG. 10, the system terminal 15 includes a high accuracy correction information generation unit 61 and a high accuracy position information integration unit 62.
The high accuracy correction information generation unit 61 includes a base station connection / reception module 63, a high accuracy position correction information extraction / generation module 64, and a guidance interface module 65.

  The base station connection / reception module 63 receives position correction information from a plurality of fixed base stations 16 (16-1, 16-2, 16-3,...), And selects a real mode operation and a virtual mode operation. FIG. 11 is a flowchart showing processing in the base station connection / reception module 63.

  The base station connection / reception module 63 starts module operation (step S301).

  When the switch of the system terminal 15 is turned on (step S302), the base station connection / reception module 63 requests connection to a plurality of fixed base stations 16 (16-1, 16-2, 16-3,...) To be connected. (Step S303). Note that the switch of the system terminal 15 is turned on when the traveling moving object 11 starts high-precision traveling.

  The base station connection / reception module 63 determines whether or not a connection request has been transmitted to all the fixed base stations 16 (16-1, 16-2, 16-3,...) To be connected (step S304). If the connection request is not transmitted to all the fixed base stations 16 (16-1, 16-2, 16-3,...) To be connected (step S304: No), the process returns to step S303.

  If the connection request has been transmitted to all the fixed base stations 16 (16-1, 16-2, 16-3,...) To be connected (step S304: Yes), the base station connection / reception module 63 A plurality of RTK position correction information is continuously received from the fixed base stations 16 (16-1, 16-2, 16-3,...) That are permitted to have a plurality of connections (step S305).

  The base station connection / reception module 63 determines the position correction information generation mode (real mode or virtual mode) (step S306). The position correction information generation mode can be set by an input operation to the system terminal 15.

  If it is determined in step S307 that the mode is the real mode, the base station connection / reception module 63 moves the process to the real mode module 66 (step S308), and if it is determined that the mode is the virtual mode, The base station connection / reception module 63 moves the process to the virtual mode module 67 (step S309).

  In FIG. 10, the high-precision position correction information extraction / generation module 64 includes a real mode module 66 and a virtual mode module 67.

  The real mode module 66 obtains the distance between a plurality of fixed base stations 16 (16-1, 16-2, 16-3,...) To be connected and the system terminal 15, and determines the fixed base station with the shortest baseline distance. It is possible to select and extract a fixed base station 16-k that automatically and dynamically displays in order on the top of the display screen of the system terminal 15 and obtains highly accurate traveling position data.

  Then, the real mode module 66 extracts one fixed base station 16-k serving as the shortest baseline from a plurality of selectable fixed base stations 16 (16-1, 16-2, 16-3,...). Thus, continuous reception is possible as a data stream of optimal RTK position correction information.

  FIG. 12 is a flowchart showing processing in the real mode module 66. The real mode module 66 starts module operation (step S401).

  The real mode module 66 periodically acquires GPS position information in the system terminal 15 by time activation (step S402).

  The real mode module 66 determines each fixed base from the position information of the plurality of fixed base stations 16 (16-1, 16-2, 16-3,...) That are permitted to be connected and the GPS position information in the system terminal 15. The base line distance between the station 16 (16-1, 16-2, 16-3,...) And the system terminal 15 is calculated (step S403).

  The real mode module 66 displays a plurality of fixed base stations 16 (16-1, 16-2, 16-3,...) On the screen of the system terminal 15 in the order in which the base line distances are close (step S404). Then, the fixed base station 16-k having the closest base line distance is selected (step S405).

Then, the real mode module 66 extracts the closest fixed base station, assigns a transmission status (step S406), and passes the processing to the guidance interface module 65 (step S407).

  In FIG. 10, the virtual mode module 67 generates a virtual base station at the position of the traveling moving object 11, and baselines from a plurality of selectable fixed base stations 16 (16-1, 16-2, 16-3,...). A plurality of fixed base stations 16 (16-1, 16-2, 16-3,...) Whose distance is shortened are extracted, and the plurality of position correction information are received in parallel as data streams. Virtual RTK position correction information is calculated by interpolation and extrapolation from the RTK position correction information of a plurality of fixed base stations 16 (16-1, 16-2, 16-3,...) And the coordinate position of the virtual base station. .

FIG. 13 is a flowchart showing processing in the virtual mode module 67.
The virtual mode module 67 starts module operation (step S501).
The virtual mode module 67 acquires the current GPS position information in the system terminal 15 (step S502).

  The virtual mode module 67 calculates each of the location information of the plurality of fixed base stations 16 (16-1, 16-2, 16-3,...) Permitted to be connected and the current GPS location information in the system terminal 15 from the location information. The base line distance and direction between the fixed base station 16 (16-1, 16-2, 16-3, ...) and the system terminal 15 are calculated (step S503).

The virtual mode module 67 selects a plurality of fixed base stations 16 (16-1, 16-2, 16-3,...) That are generation sources of the virtual base station from the baseline distance and direction (step S504).
The virtual mode module 67 sets the GPS position information in the system terminal 15 to the coordinate value of the virtual base station (step S505).

  The virtual mode module 67 calculates the coordinate value of the fixed base station and the RTK calculation from the RTK position correction information of the selected fixed base stations 16 (16-1, 16-2, 16-3,...). Three elements (satellite distance / time basic information, error information, and bias information) are acquired (step S506).

  The virtual mode module 67 performs extrapolation and interpolation operations based on the coordinates of the selected fixed base stations 16 (16-1, 16-2, 16-3,...) And the coordinates of the virtual base station. RTK position correction information (satellite distance / time basic information, error information, bias information) of the virtual base station is generated (step S507).

  The virtual mode module 67 gives a transmission status to the RTK position correction information of the virtual base station (step S508), and moves the process to the guidance interface module 65 (step S509).

  In FIG. 10, the guidance interface module 65 receives the position correction information extracted or generated by the high-accuracy position correction information extraction / generation module 64, forms it into an interface that matches the guidance, and transmits it as optimum RTK position correction information. Further, the guidance interface module 65 logs and stores various states in the apparatus.

FIG. 14 is a flowchart showing processing in the guidance interface module 65.
The guidance interface module 65 starts module operation (step S601). The guidance interface module 65 acquires RTK position correction information having a transmission status (step S602).

  The guidance interface module 65 matches the transmission type with the interface of the guidance device 12 (step S603), and transmits the optimum RTK position correction information to the guidance device 12 (step S604).

The guidance interface module 65 checks whether a module stop event has occurred.
When the module stop event has not occurred (step S605: No), the guidance interface module 65 returns the process to step S602.
When the module stop event has occurred (step S605: Yes), the guidance interface module 65 ends the module operation.

  10, the high-accuracy position information integration unit 62 includes a high-accuracy position information reception module 68, a high-accuracy position information integration module 69, and a network transmission interface module 70.

  The high-accuracy position information receiving module 68 receives the high-accuracy position information generated by the guidance device 12 for the traveling moving object 11 and temporarily stores it.

FIG. 15 is a flowchart showing processing in the high-accuracy position information receiving module 68.
The high-accuracy position information receiving module 68 starts module operation (step S701).

The high-accuracy position information receiving module 68 receives the output information of the guidance device 12 from the guidance interface module 65 (step S702).
The high-accuracy position information receiving module 68 extracts high-accuracy position information from the output information of the guidance device 12 (step S703).

  The high-accuracy position information receiving module 68 records the satellite time and the high-accuracy position information (step S704), and moves the process to the high-accuracy position information integration module 69 (step S705).

  In FIG. 10, the high-accuracy position information integration module 69 integrates / edits the same-time sensor collection information from various sensors mounted on the traveling moving object 11 with the high-accuracy position information for the high-accuracy position information in time units. To do.

  That is, FIG. 16 is an explanatory diagram of high-accuracy position / sensor integrated information. The high-accuracy position information receiving module 68 acquires the satellite time and the high-accuracy position information from the output information of the guidance device 12 via the guidance interface module 65 and sends it to the high-accuracy position information integration module 69.

  As shown in FIG. 16A, the high-accuracy position information integration module 69 acquires the satellite time (t1) and the high-accuracy position information (Hxyz). As shown in FIG. 16B, the high-accuracy position information integration module 69 includes sensor information such as a yield sensor 41, a flow sensor 42, an engine rotation / load sensor 43, a moisture sensor 44, and a soil component sensor 45 such as nitrogen. To obtain a set of sensor ID and sensor information (C1 and C1data, C2 and C2data,...).

Then, as shown in FIG. 16C, the high-accuracy position information integration module 69 uses the satellite time (t1) as a key to set the high-accuracy position information (Hxyz), sensor ID, and data (C1 and C1data). , C2 and C2data,...) To generate integrated data.
Then, as shown in FIG. 16D, the high-accuracy position information integration module 69 adds the travel area information (An), the travel moving object ID (Rn), the travel steering person (Mn), and the like to this integrated data. Additional information is added to obtain highly accurate position / sensor integrated information. The high-accuracy position / sensor integrated information is transmitted to the high-accuracy position / sensor integrated information storage device 19 through the network 24.

FIG. 17 is a flowchart showing processing in the high-precision position information integration module 69.
The high-precision position information integration module 69 starts module operation (step S801).

The high-accuracy position information integration module 69 acquires sensor information such as the yield sensor 41, the flow rate sensor 42, the engine rotation / load sensor 43, the moisture sensor 44, and the soil component sensor 45 such as nitrogen (step S802).
The high-accuracy position information integration module 69 time stamps the satellite time in the sensor information, and groups a plurality of information sets of sensor ID and sensor data with the satellite time as the top information (step S803).

The high-accuracy position information integration module 69 integrates the high-accuracy position information, the sensor ID, and the data set using the satellite time as a key (step S804).
The high-accuracy position information integration module 69 adds additional information such as the travel area information, the travel moving object ID, and the travel steering operator to the integrated data, and stores the additional data in the temporary storage area as the high-accuracy position / integration information (step S805). ).
Then, the high-accuracy position information integration module 69 moves the process to the network transmission interface module 70 (step S806).

  In FIG. 10, the network transmission interface module 70 accumulates integration / editing data for each predetermined time period, and forms and transmits the integration / editing data to the interface of the high-precision position / sensor integrated information storage device 19.

FIG. 18 is a flowchart showing processing in the network transmission interface module 70.
The network transmission interface module 70 starts module operation (step S901).

  The network transmission interface module 70 checks the presence / absence of a transmission event and the transmission block unit (step S902).

When there is no transmission event (step S903: No), the network transmission interface module 70 returns the process to step S902.
When there is a transmission event (step S903: Yes), the network transmission interface module 70 reads the high-accuracy position / sensor integrated information from the temporary storage area in units of transmission blocks (step S904).

  The network transmission interface module 70 matches the format of the high-accuracy position / sensor integrated information with the network interface to be transmitted (step S905), and transmits it to the high-accuracy position / sensor integrated information storage device 19 (step S906). ).

The network transmission interface module 70 checks whether a module stop event has occurred.
When the module stop event has not occurred (step S907: No), the network transmission interface module 70 returns the process to step S902.
When the module stop event has occurred (step S907: Yes), the network transmission interface module 70 ends the module operation.

FIG. 19 is an explanatory diagram of a tractor steering system using the positioning system according to the first embodiment of the present invention.
In vast farmland (field cropping, paddy field, dairy farming), a large-scale tractor is equipped with an automatic steering mechanism to counteract the decreasing and expanding farmland area, large-scale, labor-saving, and high-precision farming. Improvement of the work efficiency of farm work by is desired. For this purpose, it is desired to improve the measurement position accuracy in the guidance device using GPS.

  In FIG. 19, a plurality of shared fixed base stations 16 (16-1, 16-2, 16-3,...) Are constructed in the operating range of the tractor as the traveling moving object 11, and the traveling moving object 11 Is provided with a system terminal 15.

  The system terminal 15 receives RTK position correction information from a plurality of fixed base stations 16 (16-1, 16-2, 16-3,...), And provides high-precision RTK position correction information in real mode or virtual mode. Generate and supply to the guidance device 12. The guidance device 12 corrects the position information acquired from the satellite transmission information from the mobile satellite receiver 13 with the high-precision RTK position correction information from the system terminal 15 to generate high-precision position information, and the automatic steering device 14, automatic steering is performed.

  Thus, by automatically steering the tractor using GPS, the burden of farm work can be greatly reduced. Further, by assisting the steering of the tractor with the guidance device 12, even an unskilled person can be expected to perform the same work as the skilled person.

  In addition, the system terminal 15 has high-accuracy position information obtained in real time from the guidance device 12 and sensor information at the same time (for example, a yield sensor, a flow sensor, an engine rotation / load sensor, a moisture sensor, a soil component sensor such as nitrogen). Are integrated and edited and transmitted to the high-precision position / sensor integrated information storage device 19.

  The fixed base stations 16 (16-1, 16-2, 16-3,...) Are constructed in a distributed manner at positions surrounding the vast farmland 81. In order to use high-accuracy position information at a reduced cost, it is effective to use a common fixed base station 16 (16-1, 16-2, 16-3,...). The base station 16 (16-1, 16-2, 16-3, ...) can also serve as a backup base station for safety measures in the operation of the agricultural machine.

  Seeding at the start of farming such as spring requires particularly high-precision linear traveling performance, and it is effective to generate RTK corrected position information with as little error as possible. When the spring sowing data is restored and used for agrochemical application, etc., the error of the restored data is a particular problem.

  Unlike cities, agricultural areas are limited in places where safe operation of power supply facilities, communication line facilities, and system facilities can be ensured. Therefore, it is desirable to provide the fixed base station 16 in a building that is officially positioned. In this example, the fixed base station 16-1 is provided in the government office main government building 82. The fixed base station 16-2 is provided in the government office branch office building 83. The fixed base station 16-3 is provided in the agricultural cooperative government office 84.

  The central control device 18 that manages the entire system in the latest state and the high-precision position / sensor integrated information storage device 19 are desired to be set as an officially positioned engine in order to ensure security. The central control device 18 and the high-precision position / sensor integrated information storage device 19 are preferably installed in the computer room 85 of the agricultural cooperative.

  In terms of cost and performance, it is preferable that the network line network 21 to the traveling moving object 11 is diverted from the mobile phone network equipment, which is a social capital, rather than constructing its own network line network.

  A traveling satellite object 13, a guidance device 12, and an automatic steering device 14 are mounted on the traveling moving object 11. Further, position correction information is provided to the traveling moving object 11 by a plurality of fixed base stations 16 (16-1, 16-2, 16-3,...) And the system terminal 15.

  The system terminal 15 determines which fixed base station 16 (16-1, 16-) according to the distance between the position of the traveling moving object 11 and the fixed base station 16 (16-1, 16-2, 16-3,...). 2, 16-3,...) Is used to determine whether the accuracy is the highest, and the fixed base station 16-k with the highest accuracy is selected and extracted and displayed on the screen of the system terminal 15. The system terminal 15 can classify whether to use the real mode or the virtual mode.

  For example, as indicated by the ranges AR1, AR2, and AR3, when the distance between the traveling moving object 11 and the available fixed base station 16 (16-1, 16-2, 16-3,...) Is within 5 km, etc. When the distance between the moving moving object 11 and the available fixed base station 16 (16-1, 16-2, 16-3,...) Exceeds 10 km using the real mode, the virtual mode may be used. Conceivable. The amount of calculation in the system terminal 15 is smaller in the real mode and can be used at high speed.

  When a new traveling moving object 11 is added, a terminal ID is added to the new traveling moving object 11, and the ID is updated by the central control unit 18 corresponding to this terminal ID. For updating such as program function improvement, an update program is sent from the central control unit 18 to an in-system device when necessary.

Further, the system terminal 15 includes high-precision position information obtained in real time from the guidance device 12 and sensors at the same time (moisture sensor, nitrogen concentration sensor, fertilizer / chemical flow rate sensor, yield sensor, engine rotation / load sensor). Information is integrated / edited and stored in the high-precision position / sensor integrated information storage device 19.
Further, the system status log information accumulated in the system terminal 15 is stored in the central controller 18. By using the data stored in the central control unit 18, the stable operation of the system is ensured, and by using the data stored in the high-precision position / sensor integrated information storage unit 19, the possibility of using higher-precision position information is possible. Can be expanded.

  By automatically running with the sensor operation turned on at the start of running, the system terminal 15 can integrate the high-accuracy position and sensor collection data in units of heels or hours (seconds) in real time. The information of the high-accuracy position / sensor integrated information storage device 19 can be acquired from the high-accuracy position / sensor integrated information storage device 19 by the system terminal 15 in real time as necessary, or when traveling on a persimmon unit or when farmland cultivation on the day is completed.

  The sowing time in spring is particularly required to be accurate, and since all the agricultural processes required for subsequent seed growth are required for sowing accuracy, it is run by skilled farmers and records its travel route log data. In a process such as summer, even a non-skilled person can read the traveling log data of a spring expert and automatically steer the traveling moving object 11, thereby enabling large-scale and labor-saving farming with good efficiency and accuracy.

  According to the embodiment of the present invention, it is possible to select, extract, generate and supply optimal RTK position correction information in an environment where the traveling moving object 11 travels. 14, correction information that can be connected with high accuracy can be supplied. Since it is applicable even when equipment of various vendors is used depending on the region, there is an effect of promoting the use of new high-accuracy position information.

  In addition, according to the embodiment of the present invention, the system terminal 15 is connected and the existing RTK receiver and other assets are used for traveling even in an area where the individual existing RTK fixed base station 16 is constructed. It can be applied to traveling of the moving object 11. Therefore, it is possible to share between users including the construction area of the existing fixed base station 16, and there is an effect of promoting the shared use of high-accuracy position information.

  Further, according to the embodiment of the present invention, in the RTK base station system, in order to ensure accuracy, the fixed base station is configured such that the base line distance between the fixed base station 16 and the traveling moving object 11 is within a predetermined interval. 16 need to be built. According to the embodiment of the present invention, the base line distance can be increased by virtualization, and the construction cost of the shared fixed base station 16 can be reduced.

  In addition, according to the embodiment of the present invention, various automatic collection data linked with high-accuracy position information of the traveling state of the traveling moving object 11 such as agricultural equipment in real time via the network is combined with high-accuracy position / sensor integrated information. The data can be transmitted to the storage device 19 and stored. Thereby, since big data accumulation | storage, such as agriculture, is enabled, utilization of big data can be promoted.

  Moreover, according to the embodiment of the present invention, it is possible to solve the problems of accuracy and cost even in contracting a large-scale cultivation process such as a contractor beyond the use of individual agricultural management bodies in the agricultural field. Contractors in contractors can display and report contract details with high accuracy, and can promote business development of contractors and other contractors in agriculture.

  Also, in order to link image information from aerial photography / satellite images etc. with position information, individual calculation processing is required, and the accuracy of aerial photography / satellite images is not close to the cm accuracy. is there. Moreover, it is necessary to purchase image information from aerial photography or satellite each time, which is expensive. In the embodiment of the present invention, each time the traveling moving object 11 travels, high-accuracy position information and data acquired by a sensor or the like can be automatically integrated and collected according to the route traveled by the traveling moving object 11 in real time. In addition, the accuracy can be improved.

  In addition, the type of sensor information to be collected in conjunction with the position information is a remote sensor installed in the aerial imaging device for aerial photography, and the desired sensor information for satellite images if the satellite is not equipped with a sensor. The satellite image by cannot be acquired. In the embodiment of the present invention, necessary sensor information can be collected together with high-accuracy position information only by changing the type of sensor attached to the traveling moving object 11. In addition, in aerial / satellite images, the surface information of the target area must be mainly used. However, in the embodiment of the present invention, the ground contact information such as farmland or the underground interior information including the proximity measurement sensor information is also highly accurate. Information can be automatically collected in conjunction with the Z-axis information.

  In the above-described embodiment, the application example in the agricultural field has been described. However, the present invention can be similarly applied to position measurement in other areas. For example, by mounting the system terminal 15 on a working machine such as a tractor or by mounting it on a robot or the like, the system terminal 15 can be applied to traveling moving objects such as construction, search, and disaster rescue in addition to agriculture.

A program for realizing all or part of the functions of the positioning system 1 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read by the computer system and executed. Alternatively, some processes may be selectively performed. Here, the “computer system” includes an OS and hardware such as peripheral devices.
Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW system is used.

  The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Further, the “computer-readable recording medium” is a program that dynamically holds a program for a short time, like a communication line when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. In this case, a volatile memory in a computer system serving as a server or a client in that case, and a program that holds a program for a certain period of time are also included. The program may be a program for realizing a part of the above-described functions, or may be a program that can realize the above-described functions in combination with a program already recorded in a computer system.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes design changes and the like without departing from the gist of the present invention.

1: Positioning system 11: Traveling moving object 12: Guidance device 13: Mobile satellite receiver 14: Automatic steering device 15: System terminal 16: Fixed base station 17: Position correction information distribution device 18: Central control device 19: High accuracy position Sensor integrated information storage device 20: satellite

Claims (5)

A plurality of fixed base stations provided around the moving object;
A position correction information generating device that receives position correction information from the plurality of fixed base stations, and extracts and generates high-accuracy position correction information on a traveling moving object from the position correction information from the plurality of fixed base stations; ,
A position measuring device that receives information from a satellite and measures the position of a traveling moving object;
With
The position correction information generation device supplies the extracted / generated high-accuracy position correction information to the position measurement device,
The position measurement device generates high-accuracy position information by correcting the position of the traveling moving object based on the high-accuracy position correction information from the position correction information generation device. The position correction information generation apparatus appropriately selects the position correction information from the plurality of fixed base stations that has the highest accuracy and outputs it as high-accuracy position correction information. Positioning system. The position correction information generation device generates a virtual base station on the traveling moving object from position correction information from the plurality of fixed base stations, and outputs the position correction information of the virtual base station as high-precision position correction information. The positioning system according to claim 1. The said position correction information generation apparatus integrates and edits the highly accurate position information produced | generated by the said position measurement apparatus, and the sensor information of the same time slot | zone, and accumulate | stores it in an accumulation | storage part. Positioning system. A position correction information generation device receives position correction information from a plurality of fixed base stations provided around a traveling moving object, and from the position correction information from the plurality of fixed base stations, Extracting and generating precision position correction information;
Supplying high-accuracy position correction information from the position correction information generation apparatus to a position measurement apparatus;
The position measuring device receives information from the satellite and measures the position of the traveling moving object, and also corrects the position of the traveling moving object by the high-accuracy position correction information from the position correction information generating device. And a method for generating information.

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