JP2017219412A - Positioning server, mobile body, positioning system, positioning method, and positioning program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an accurate electronic reference point network even in areas where electronic reference points are short or missing.SOLUTION: A positioning server 150 includes: a communication device 51 for receiving mobile body positioning information 131 calculated on the basis of a positioning signal received from a positioning satellite by a mobile body 130 and reference point positioning information 141 calculated on the basis of a positioning signal received from the positioning satellite by an electronic reference point 140; and a computation device 52 for calculating true coordinates 133 representing a precise position of the mobile body 130 on the basis of the mobile body positioning information 131 and the reference point positioning information 141.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a positioning server, a mobile object, a positioning system, a positioning method, and a positioning program. In particular, the present invention relates to a positioning server, a moving body, a positioning system, a positioning method, and a positioning program that can use the moving body as a reference point.

  In order to perform positioning using the high-precision (centimeter-class) positioning reinforcement method, an electronic reference point is required around (near) the positioning target object. The electronic reference point is fixed to the determined position coordinates, receives the positioning signal from the positioning satellite, and uses the positioning signal received from the positioning satellite, the pseudo distance from each positioning satellite, the carrier phase, etc. (hereinafter, positioning) Information) and transmit it to the satellite ground station. The satellite ground station corrects errors such as ionospheric delay, troposphere delay, satellite clock error, and satellite orbit error based on the positioning information and the true position coordinates of the electronic reference point (hereinafter referred to as the following). (Reinforcement information) is calculated and transmitted to the positioning target object via the positioning reinforcement satellite. Based on this reinforcement information, the positioning target object corrects its position coordinate error calculated from the positioning signal received from each positioning satellite (see Patent Document 1).

JP 2014-52380 A

  However, in Japan, the electronic reference point network established by the Geospatial Information Authority of Japan can be used. However, in countries and regions where electronic reference points are not yet established or insufficiently established, an electronic reference point is installed near the positioning target object. It is assumed that it has not been done. For this reason, there is a problem that in a country or region where the electronic reference point is not yet developed or insufficiently maintained, the reinforcement information cannot be provided to the positioning target object as in the system described in Patent Document 1.

  An object of the present invention is to provide a highly accurate electronic reference point network even in an area where electronic reference points are insufficient or missing.

The positioning server according to the present invention is:
A communication device that receives the mobile positioning information calculated based on the positioning signal received by the mobile body from the positioning satellite and the reference point positioning information calculated based on the positioning signal received by the electronic reference point from the positioning satellite;
And an arithmetic unit that calculates true coordinates representing an accurate position of the moving body based on the moving body positioning information and the reference point positioning information.

  In the positioning server according to the present invention, the communication device calculates the mobile body positioning information calculated based on the positioning signal received by the mobile body from the positioning satellite, and the reference calculated by the electronic reference point based on the positioning signal received from the positioning satellite. Receive point positioning information. Then, the arithmetic device calculates true coordinates representing the accurate position of the moving body based on the moving body positioning information and the reference point positioning information. Therefore, the mobile body can be used as a new electronic reference point, and a highly accurate electronic reference point network can be constructed even in an area where the electronic reference point is insufficient or missing.

1 is a configuration diagram of a positioning system 10 according to a first embodiment. 1 is a configuration diagram of a moving body according to Embodiment 1. FIG. 1 is a configuration diagram of a positioning server 150 according to Embodiment 1. FIG. FIG. 3 is a flowchart of a positioning method 510 and a positioning process S100 of the positioning system 10 according to the first embodiment. FIG. 6 is a flowchart of mobile object processing S10 that is an operation of the mobile object 130 according to the first embodiment. The flowchart of the positioning server process S20 by the positioning program 520 of the positioning server 150 concerning Embodiment 1. FIG. The figure which shows the method (a), (b) which installs a new movable reference | standard point in area | region R1 by the positioning system 10 which concerns on Embodiment 1. FIG. The figure which shows the method of supplementing the fixed reference | standard point missing by the positioning system 10 which concerns on Embodiment 1 with a movable reference | standard point.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the part which is the same or it corresponds in each figure. In the description of the embodiments, the description of the same or corresponding parts will be omitted or simplified as appropriate.

Embodiment 1 FIG.
*** Explanation of configuration ***
The configuration of the positioning system 10 according to the present embodiment will be described using FIG.
As shown in FIG. 1, the positioning system 10 includes a positioning satellite 110, a positioning augmentation satellite 120, a moving body 130, an electronic reference point 140, a positioning server 150, and a satellite ground station 160.

  The moving body 130 is equipped with an electronic reference point function including a positioning receiver, a communication device, and the like, which will be described later, and moves in the vicinity (periphery) of the positioning target object 170. The moving body 130 stops after moving near the positioning target object 170, and receives the positioning signal 111 from the positioning satellite 110 at the stopped position. The mobile body 130 calculates the positioning information based on this positioning signal as the mobile body positioning information 131 and transmits it to the positioning server 150. Here, the mobile body positioning information 131 is observation data including a pseudorange, a carrier wave phase, and the like. In other words, the mobile body positioning information 131 includes a pseudo distance, a carrier wave phase, and the like between the positioning satellite 110 that is the transmission source of the positioning signal 111 used to calculate the mobile body positioning information 131 and the mobile body 130.

  The electronic reference point 140 is an electronic reference point whose true position coordinates are known in advance. The true position coordinate of the electronic reference point 140 is set as the true reference point coordinate. The electronic reference point 140 may be a fixed reference point or a movable reference point whose true position coordinates are known. The electronic reference point 140 calculates the positioning information based on the positioning signal 111 received from the positioning satellite 110 as the reference point positioning information 141 and transmits it to the positioning server 150. The reference point positioning information 141 includes a pseudo distance and a carrier phase between the positioning satellite 110 that is the transmission source of the positioning signal 111 and the electronic reference point 140 used for calculating the reference point positioning information 141. The positioning system 10 includes at least three electronic reference points 140.

  The positioning server 150 calculates true coordinates 133 representing the exact position of the moving body 130 based on the reference point positioning information 141 received from the electronic reference point 140 and the moving body positioning information 131 received from the moving body 130. To do. Usually, the position coordinates of the moving body 130 are obtained from the moving body positioning information 131. The positioning server 150 uses the reference point positioning information 141 and the true reference point coordinates of the electronic reference point 140 to calculate the moving body reinforcement information 151 for correcting the position coordinates obtained from the moving body positioning information 131. Then, the positioning server 150 calculates the true coordinates 133 of the moving body 130 by correcting the position coordinates of the moving body 130 using the moving body reinforcement information 151. Furthermore, the positioning server 150 generates positioning target reinforcement information 152 based on the true coordinates 133 of the moving body 130 and the moving body positioning information 131 acquired from the moving body 130 thereafter. Then, the positioning server 150 delivers the generated positioning target reinforcement information 152 to the positioning target object 170 via the communication route of the positioning augmentation satellite 120 such as a quasi-zenith satellite or a geostationary satellite.

The configuration of the moving body 130 according to the present embodiment will be described with reference to FIG.
The moving body 130 is a flying body that flies autonomously and moves. In the present embodiment, the moving body 130 is a drone or an airplane. The moving body 130 may be a moving body other than a flying body, specifically a vehicle such as an automobile or a truck, a ship, or the like. In the case of a ship, fixing is required.
The moving body 130 includes a communication device 31, a positioning receiver 32, and a moving device 33. The moving device 33 includes an IMU 333 (Internal Measurement Unit).

Before the moving body 130 moves to the vicinity of the positioning target object 170, the communication device 31 receives the position coordinates of the movement destination from the outside as the movement destination coordinates 132. After the mobile body 130 has moved to the vicinity of the positioning target object 170 and stopped, the communication device 31 transmits mobile body positioning information 131 generated by the positioning receiver 32 described later to the positioning server 150. The mobile body positioning information 131 is a position coordinate of the mobile body 130 such as a pseudo distance to each positioning satellite 110 and a carrier phase calculated by a positioning receiver 32 described later based on a positioning signal 111 transmitted from the positioning satellite 110. This is information for calculation.
The positioning receiver 32 receives the positioning signal 111 from the positioning satellite 110. The positioning receiver 32 generates, as the mobile body positioning information 131, positioning information used to calculate the true coordinates 133 representing the exact position of the mobile body 130 (self) based on the positioning signal 111 received from the positioning satellite 110. To do.
The moving device 33 controls the movement and stop of the moving body 130. For example, the moving device 33 controls the movement to the destination coordinate 132 based on the destination coordinate 132 and the positioning signal 111. Further, the moving device 33 stops the moving body 130 in the vicinity of the positioning target object 170. The moving device 33 includes an IMU 333 that detects the orientation and posture of the moving body 130.

The configuration of positioning server 150 according to the present embodiment will be described using FIG.
The positioning server 150 is a computer and includes a communication device 51, a calculation device 52, and a storage device 53.
The communication device 51 uses the mobile body positioning information 131 calculated based on the positioning signal 111 received by the mobile body 130 from the positioning satellite 110 and the reference calculated based on the positioning signal 111 received by the electronic reference point 140 from the positioning satellite 110. Point positioning information 141 is received. The communication device 51 receives the reference point positioning information 141 for each of the at least three electronic reference points 140. Further, positioning target reinforcement information 152 calculated by a calculation device 52 described later is transmitted to the positioning target object 170 via the satellite ground station 160 and the positioning reinforcement satellite 120. The positioning target reinforcement information 152 is information for correcting an error in the position information of the positioning target object 170 calculated based on the positioning signal 111 of the positioning satellite 110. This error is a coordinate error caused by an ionospheric delay amount, a tropospheric delay amount, a satellite clock error, a satellite orbit error, and the like.
The communication device 51 includes a receiver and a transmitter. Specifically, the communication device 51 is a communication chip or a NIC (Network Interface Card).

The storage device 53 stores the mobile body positioning information 131 and the reference point positioning information 141 received by the communication device 51 from the mobile body 130 and the electronic reference point 140.
The storage device 53 includes an auxiliary storage device and a memory. Specifically, the auxiliary storage device is a ROM (Read Only Memory), a flash memory, or an HDD (Hard).
Disk Drive). Specifically, the memory is a RAM (Random Access Memory).

The arithmetic device 52 calculates the true coordinates 133 of the moving body 130 based on the moving body positioning information 131 and the reference point positioning information 141 of the moving body 130 and the electronic reference point 140 stored in the storage device 53. The arithmetic device 52 calculates at least three moving body reinforcement information 151 based on the reference point positioning information 141 of each of the at least three electronic reference points 140. The moving body reinforcement information 151 is information for correcting the position coordinates of the moving body 130 obtained from the moving body positioning information 131. The true coordinates 133 of the moving body 130 are calculated from the at least three moving body reinforcement information 151 and the moving body positioning information 131. The computing device 52 also represents an object position that represents the position of the positioning target object 170 obtained based on the positioning signal received from the positioning satellite by the positioning target object 170 based on the moving body positioning information 131 and the true coordinates 133. The positioning object reinforcement information 152 for correcting the above is generated. Then, the computing device 52 transmits the positioning target reinforcement information 152 to the positioning target object 170 via the satellite ground station 160 and the positioning reinforcement satellite 120.
The positioning system 10 and the positioning server 150 are also referred to as a reinforcement information generation system and a reinforcement information generation server that generate positioning target reinforcement information 152 to be provided to the positioning target object 170.

The arithmetic device 52 is connected to other hardware via a signal line, and controls these other hardware. The arithmetic device 52 is specifically an IC (Integrated Circuit) that performs processing. The arithmetic device 52 is a CPU (Central Processing Unit) or the like.
The auxiliary storage device stores a positioning program 520 that realizes the function of the arithmetic device 52. The positioning program 520 is loaded into the memory, read into the arithmetic device 52, and executed by the arithmetic device 52. The auxiliary storage device also stores an OS (Operating System). At least a part of the OS is loaded into the memory, and the arithmetic device 52 executes the positioning program 520 that realizes the function of the positioning server 150 while executing the OS. The positioning program 520 may be stored in a portable recording medium such as a magnetic disk, a flexible disk, an optical disk, a compact disk, a Blu-ray (registered trademark) disk, or a DVD (Digital Versatile Disc).

*** Explanation of operation ***
The positioning method 510 and the positioning process S100 of the positioning system 10 according to the present embodiment will be described using FIG.
The positioning process S100 includes a moving body process S10 and a positioning server process S20.
In the moving body process S10, the moving body 130 receives the positioning signal 111 from the positioning satellite 110, and based on the received positioning signal 111, the moving body positioning is used to calculate the true coordinates 133 representing its exact position. Information 131 is generated.
The positioning server process S20 includes a reception process S21 and a calculation process S22. In the reception process S21, the positioning server 150 receives the moving body positioning information 131 from the moving body 130, and receives the reference point positioning information 141 calculated based on the positioning signal received by the electronic reference point 140 from the positioning satellite. In the calculation process S <b> 22, the positioning server 150 calculates the true coordinates 133 of the moving body 130 based on the moving body positioning information 131 and the reference point positioning information 141.

With reference to FIG. 5, the moving body process S10 that is the operation of the moving body 130 according to the present embodiment will be described.
In step S <b> 101, the communication device 31 receives the position coordinates of the movement destination as the movement destination coordinates 132. In the present embodiment, the destination coordinate 132 is a position coordinate in the vicinity of the positioning target object 170, but may be a position coordinate of a location where a new electronic reference point is desired due to, for example, a missing electronic reference point. .
In step S102, the positioning receiver 32 calculates a rough self-position based on the positioning signal from the positioning satellite 110. In addition, the mobile device 33 calculates its own orientation and posture using the IMU 331.
In step S <b> 103, the moving device 33 moves the moving body 130 to the movement destination coordinates 132 based on the rough self-position, orientation, posture, and movement destination coordinates 132.
In step S <b> 104, the moving device 33 stops the moving body 130 when it reaches the vicinity of the destination coordinate 132. At this time, the moving body 130 does not have to stop at the accurate movement destination coordinates 132.
In step S105, the positioning receiver 32 receives the positioning signal 111 from the positioning satellite 110 at the stopped position. The positioning receiver 32 may repeatedly receive the positioning signal 111 from the positioning satellite 110 at the stopped position. Based on the positioning signal 111, the positioning receiver 32 generates moving body positioning information 131 that is used to calculate true coordinates 133 that represent its exact position.
In step S <b> 106, the communication device 31 transmits the mobile body positioning information 131 to the positioning server 150. At this time, the communication device 31 transmits the identification information of the moving body 130 together with the moving body positioning information 131.

The positioning server process S20 by the positioning program 520 of the positioning server 150 according to the present embodiment will be described using FIG.
In step S <b> 107, the communication device 51 receives the mobile body positioning information 131 and the identification information for identifying the mobile body 130 from the mobile body 130. In addition, the communication device 51 includes, from each of at least three electronic reference points 140 within a predetermined range in the vicinity of the moving body 130, identification information for identifying the reference point positioning information 141 and each electronic reference point 140, and each electronic The true reference point coordinates of the reference point 140 are received. Note that the true reference point coordinates of each electronic reference point 140 may be held in advance by the positioning server 150.

  In step S108, the storage device 53 stores the identification information of the moving body 130 and the moving body positioning information 131 received by the communication device 51 in association with each other. That is, the storage device 53 stores the identification information of the moving body 130 and the pseudo distance and the carrier wave phase included in the moving body positioning information 131. Further, the storage device 53 stores the identification information received from each of the at least three electronic reference points 140, the reference point positioning information 141, and the true reference point coordinates in association with each other. That is, the storage device 53 stores information including identification information, pseudorange, carrier wave phase, and true reference point coordinates for each of at least three electronic reference points 140.

In step S109, the arithmetic unit 52 is based on the identification information of the moving body 130 and the moving body positioning information 131, the identification information of each of the at least three electronic reference points 140, the reference point positioning information 141, and the true reference point coordinates. Thus, the true coordinates 133 of the moving body 130 are calculated. The moving body 130 for which the true coordinates 133 are calculated is also referred to as a movable reference point.
A method for calculating the true coordinates 133 of the moving body 130 will be described below using a specific example.

(A), (b) of FIG. 7 is a figure which shows the method the arithmetic unit 52 installs the new movable reference | standard point by the moving body 130 in area | region R1.
As shown in FIG. 7A, fixed reference points b1 to b7 exist in the region R1, and as shown in FIG. 7B, movable reference points a1 to a5 are installed in the region R1. And
For example, the case where the moving body 130 is the movable reference point a1 will be described. At this time, the storage device 53 stores identification information and moving body positioning information 131 of the moving body 130 (movable reference point a1), and identification information and reference point positioning information 141 of each of the fixed reference points b1, b2, and b7. And the true reference point coordinates are stored. The arithmetic device 52 includes identification information and moving body positioning information 131 of the moving body 130 (movable reference point a1), identification information and reference point positioning information 141 of each of the fixed reference points b1, b2, and b7, and the true reference. Based on the point coordinates, the true coordinates 133 of the moving body 130 (movable reference point a1) are calculated.
Specifically, the arithmetic unit 52 calculates three fixed reference points from the accurate three-dimensional position (true reference point coordinates), pseudorange, and carrier wave phase at each of the three fixed reference points b1, b2, and b7. The moving body reinforcement information 151 in each of b1, b2, and b7 is generated. Then, the arithmetic unit 52 uses the moving body reinforcement information 151 at each of the three fixed reference points b1, b2, and b7, the pseudo distance of the moving body 130 (movable reference point a1), the carrier wave phase, and the like. The true coordinate 133 of the moving body 130 (movable reference point a1) is calculated.

Next, after the arithmetic device 52 determines the true coordinates 133 of the moving body 130, in step S110, based on the moving body positioning information 131 of the moving body 130 and the true coordinates 133 of the moving body 130, the positioning target reinforcement is performed. Information 152 is generated.
In step S111, the communication device 51 transmits the positioning target reinforcement information 152 to the positioning target object 170 via the satellite ground station 160 and the positioning reinforcement satellite 120.
Thereafter, the positioning target object 170 receives the positioning target reinforcement information 152, and the error of its own position information calculated based on the positioning signal of the positioning satellite 110 (ionospheric delay amount, tropospheric delay amount, satellite clock error, and satellite orbit error). Etc.) is corrected based on the positioning object reinforcement information 152.

  As described above, the true coordinate 133 of the movable reference point a1 shown in FIG. 7B is calculated from the information of the three fixed reference points b1, b2, and b7. Similarly, the true coordinate 133 is calculated from the three fixed reference points b5, b6, and b7 for the movable reference point a2, and the three fixed reference points b2, b3, and b4 for the movable reference point a3. Here, after the true coordinate 133 of the movable reference point is calculated, it can be used as a normal electronic reference point. Therefore, as shown in FIG. 7B, the true coordinate 133 of the movable reference point a4 can be calculated from the three movable reference points a1, a2, and a3 from which the true coordinate 133 is calculated. . Further, the true coordinate 133 of the movable reference point a5 can be calculated from the movable reference point a4 from which the true coordinate 133 is calculated and the two fixed reference points b4 and b5.

  In the positioning system 10 according to the present embodiment, the communication device 31 of the mobile unit 130 to the positioning server 150 is an arbitrary line such as partially via the ground line or via the Internet in the case of direct communication. The location from the positioning server 150 includes both cases of connecting to the existing business operator and newly installing. As an example of the latter, the positioning server 150 is installed in a flying object flying over the sky, and the positioning target reinforcement information 152 is delivered to the positioning target object 170 directly or via a quasi-zenith satellite.

*** Explanation of effects of this embodiment ***
In the positioning system 10 according to the present embodiment, the number of temporary electronic reference points using the moving body can be varied according to the existence range of the positioning target object (the range in which the electronic reference points are to be reinforced) and the required positioning accuracy. can do.
FIG. 8 is a diagram illustrating a method of compensating for a missing fixed reference point with a movable reference point. The region R2 in FIG. 8 is wider than the region R1 in FIG. 7, but shows a situation in which the implementation method of FIG. 7 is applied to a part of the region R2 and sequentially expanded to compensate for the electronic reference point. .
In order to construct a reinforcement network with electronic reference points for high-precision positioning, it is first necessary to prepare electronic reference points. According to the positioning system 10 according to the present embodiment, as shown in FIG. In addition, the electronic reference point can be compensated. Therefore, even in an area where an electronic reference point is not established, a reinforcing network for high-precision positioning can be constructed by tentatively treating a moving body such as a drone as a reference point. In addition, the electronic reference point can be compensated when the existing electronic reference point is broken or cannot be used due to a disaster or the like.
The movable reference point by the moving body 130 according to the present embodiment has the same function and performance as a normal fixed type reference point, and is a movable type (movable type). Operation in other areas is also possible. Therefore, according to the positioning system 10 according to the present embodiment, it is possible to bring about a reduction in total cost and excellent convenience.

  In the positioning system 10 according to the present embodiment, the moving body 130 moves to the vicinity of the positioning target object and stops, and the information on the positioning signal of each positioning satellite is transmitted, thereby calculating the true position coordinates. . Therefore, it is possible to provide the positioning target object with high-precision positioning target reinforcement information that cannot be obtained only by the electronic reference point fixed at the determined position coordinates.

*** Other configurations ***
In the present embodiment, as shown in FIGS. 7 and 8, the method of installing the electronic reference point in a bowl shape has been described. If the electronic reference points are provided at intervals of 70 to 100 km, it is possible to provide a positioning system with a cm-class accuracy. Therefore, the installation positions of the electronic reference points do not have to be saddle-shaped as long as the electronic reference points are provided at intervals of 70 to 100 km.

  Further, after the moving body stops at the destination position, the moving body needs to be fixed at the stop position. Therefore, the drone that is a moving body may have a fixing portion that fixes itself at the stop position.

  The positioning system according to the present embodiment is a ground service for relative positioning (DGPS, kinematic method, etc.) using an electronic reference point in addition to passing through a communication route of a positioning augmentation satellite such as a quasi-zenith satellite or geostationary satellite It can also be applied.

  As described above, according to the positioning system 10 according to the present embodiment, it is possible to provide a highly accurate electronic reference point network even in an area where the electronic reference points are insufficient or missing.

Moreover, although embodiment of this invention was described, you may implement combining several parts among this embodiment. Alternatively, one part of this embodiment may be implemented. In addition, the contents of this embodiment may be implemented in any combination as a whole or in part.
In addition, said embodiment is an essentially preferable illustration, Comprising: It does not intend restrict | limiting the range of this invention, its application thing, and a use, A various change is possible as needed.

  10 positioning system, 31, 51 communication device, 32 positioning receiver, 33 mobile device, 52 arithmetic device, 53 storage device, 110 positioning satellite, 111 positioning signal, 120 positioning augmentation satellite, 130 mobile body, 131 mobile body positioning information, 132 destination coordinates, 133 true coordinates, 140 electronic reference points, 141 reference point positioning information, 150 positioning server, 151 moving body reinforcement information, 152 positioning object reinforcement information, 160 satellite ground station, 170 positioning object, 510 positioning method 520 positioning program, S100 positioning processing, S10 mobile processing, S20 positioning server processing, S21 reception processing, S22 calculation processing, R1, R2 region.

Claims (13)

A communication device that receives the mobile positioning information calculated based on the positioning signal received by the mobile body from the positioning satellite and the reference point positioning information calculated based on the positioning signal received by the electronic reference point from the positioning satellite;
A positioning server comprising: an arithmetic device that calculates true coordinates representing an accurate position of the moving body based on the moving body positioning information and the reference point positioning information. The arithmetic unit is
By calculating moving body reinforcement information for correcting the position coordinates of the moving body obtained from the moving body positioning information based on the reference point positioning information, and correcting the position coordinates using the moving body reinforcement information. The positioning server according to claim 1, wherein the true coordinates are calculated. The electronic reference point has at least three electronic reference points;
The communication device
Receiving the reference point positioning information for each of the at least three electronic reference points;
The arithmetic unit is
Based on the reference point positioning information of each of the at least three electronic reference points, calculate at least three mobile body reinforcement information, and from the at least three mobile body reinforcement information and the mobile body positioning information, The positioning server according to claim 2, wherein the true coordinates are calculated. The moving body stops near the positioning target object,
The arithmetic unit is
Positioning object reinforcement information for correcting the object position representing the position of the positioning target object obtained based on the positioning signal received by the positioning target object from the positioning satellite based on the moving body positioning information and the true coordinates. The positioning server according to claim 2 or 3, which generates The communication device
Positioning signal used for calculating the moving body positioning information including the pseudorange and carrier phase between the positioning satellite of the positioning signal used for calculating the moving body positioning information and the moving body, and the reference point positioning information 5. The positioning server according to claim 1, which receives the reference point positioning information including a pseudorange and a carrier phase between a positioning satellite as a transmission source of the electronic source and the electronic reference point. 6. A communication device that receives the position coordinates of the destination as the destination coordinates;
A positioning receiver that receives positioning signals from positioning satellites;
A moving device that controls movement to the destination coordinates based on the destination coordinates and the positioning signal;
The positioning receiver is
Based on the positioning signal, generate positioning information used for calculating true coordinates representing the exact position of the mobile device as mobile body positioning information,
The communication device
A mobile that transmits the mobile positioning information generated by the positioning receiver.   The moving body according to claim 6, wherein the moving body is a vehicle, a ship, or a flying body.   The mobile body according to claim 7, wherein the mobile body is a drone that flies autonomously and moves. The positioning receiver is
The mobile body according to claim 6, wherein the mobile body positioning information including a pseudorange and a carrier wave phase between the positioning satellite and the mobile body is generated. A mobile device that controls movement, and a positioning signal that receives a positioning signal from a positioning satellite and generates positioning information used as a mobile body positioning information to calculate true coordinates that represent its exact position based on the positioning signal. A mobile unit with a receiver;
A communication device that receives the mobile body positioning information from the mobile body and that receives the reference point positioning information calculated based on the positioning signal received by the electronic reference point from the positioning satellite, the mobile body positioning information, and the reference point A positioning system comprising: a positioning server including an arithmetic device that calculates the true coordinates of the moving body based on positioning information. The moving device stops the moving body in the vicinity of the positioning target object,
The arithmetic unit is
Based on the positioning signal received from the positioning satellite by the positioning target object based on the moving body positioning information and the true coordinate, and calculating the true coordinates of the moving body stopped in the vicinity of the positioning target object The positioning system of Claim 10 which produces | generates the positioning target reinforcement information which correct | amends the object position showing the position of the said positioning target object obtained by. A mobile body receives a positioning signal from a positioning satellite, and generates positioning information used for calculating true coordinates representing its exact position as mobile body positioning information based on the positioning signal,
The positioning server receives the moving body positioning information from the moving body, and receives the reference point positioning information calculated based on the positioning signal received from the positioning satellite by the electronic reference point, and the moving body positioning information and the reference A positioning method for calculating the true coordinates of the moving body based on point positioning information. Receiving processing for receiving the mobile body positioning information calculated based on the positioning signal received by the mobile body from the positioning satellite and the reference point positioning information calculated based on the positioning signal received by the electronic reference point from the positioning satellite;
A positioning program that causes a positioning server, which is a computer, to execute arithmetic processing for calculating true coordinates representing an accurate position of the moving body based on the moving body positioning information and the reference point positioning information.

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