JP2021032573A - Positioning system, automatic steering system, and positioning method - Google Patents

Abstract

To perform a positioning operation with high accuracy even in a place out of a range of a telecommunication network provided by a telecommunication enterprise.SOLUTION: A positioning system is an RTK-based positioning system, in which a GPS positional information of a mobile object measured using the GPS is corrected by a corrected positional information based on the reference positional information of a fixed base station measured using the GPS. The positioning system, which is placed in a positioning target area, comprises: a telecommunication base station that constructs a second telecommunication network, which is a telecommunication network different from a first telecommunication network provide by a telecommunication enterprise, and which is a complex of wireless network having multiple wireless networks arranged so as to cover the positioning target area using a directional antenna; and a positioning processing unit that acquires the corrected positional information by way of the second telecommunication network constructed by the telecommunication base station, corrects the GPS positional information of the mobile object based on the corrected positional information, and measures the positional information of the mobile object in the positioning target area.SELECTED DRAWING: Figure 1

Description

The present invention relates to a positioning system, an automatic steering system, and a positioning method.

In recent years, the use of GPS (Global Positioning System) positioning technology has become common in measuring the position of moving objects and improving running accuracy (see, for example, Patent Document 1). Hereinafter, GPS is described as a satellite positioning system representing GNSS: Global Navigation Satellite System, which is a general term for satellite positioning systems operated in each country.
Further, as a technique for improving the accuracy of positioning, an RTK (Real Time Kinematic) method is known. GPS positioning technology using the RTK method is used for measuring the position of moving moving objects such as agricultural machinery and construction machinery, and for improving the accuracy of traveling routes, and there is a high possibility that it will become widespread in the future.

JP-A-2007-127665

By the way, in the positioning system using the RTK method described above, it is necessary to supply the corrected position information to the moving object by communication such as a mobile phone network. However, in mountainous areas, etc., there are cases where the location is outside the range of the communication network provided by the communication carrier such as the mobile phone network, and in such a location, the conventional positioning system should apply the RTK method. It was difficult to perform positioning with high accuracy.

The present invention has been made to solve the above problems, and an object of the present invention is an automatic positioning system capable of performing positioning with high accuracy even in a place outside the range of a communication network provided by a telecommunications carrier. The purpose is to provide a steering system and a positioning method.

In order to solve the above problem, one aspect of the present invention is to use GPS position information of a moving object measured by using GPS (Global Positioning System) as a reference of a fixed base station measured by using GPS. Correction based on position information This is an RTK (Real Time Kinematic) positioning system that corrects based on position information, and is located in the positioning target area and is a second communication network that is different from the first communication network provided by the telecommunications carrier. A communication base station for constructing a second communication network, which is a composite wireless network network having a plurality of wireless networks arranged so as to cover the positioning target area by a directional antenna, and the communication base station constructed by the communication base station. The corrected position information is acquired via the second communication network, the GPS position information of the moving object is corrected based on the corrected position information, and the position information of the moving object in the positioning target area is obtained. It is a positioning system characterized by including a positioning processing unit for measuring.

Further, in one aspect of the present invention, in the positioning system, the communication base station corrects the passage period during which the moving object passes through the dead zone of the second communication network generated at the boundary of the plurality of wireless networks. It is characterized in that the composite wireless network network is constructed so as to be shorter than the permissible period in which position information cannot be acquired and a predetermined accuracy can be maintained.

Further, one aspect of the present invention is to correct the GPS position information of a moving object measured by using GPS (Global Positioning System) based on the reference position information of a fixed base station measured by using the GPS. It is an RTK (Real Time Kinematic) type positioning system that corrects by information, and is a second communication network that is located in the positioning target area and is different from the first communication network provided by the telecommunications carrier, and is a self-employed mobile communication. The correction position information is acquired via the communication base station for constructing the second communication network to which the technique is applied and the second communication network constructed by the communication base station, and the correction position information is acquired based on the correction position information. It is a positioning system including a positioning processing unit that corrects GPS position information of a moving object and measures the position information of the moving object in the positioning target area.

Further, in one aspect of the present invention, in the positioning system, communication by both the first communication network and the second communication network is possible, and the radio wave strength of the first communication network and the second communication network is possible. The terminal device is provided with a terminal device for acquiring the correction position information by switching between communication by the first communication network and communication by the second communication network based on the above. It is characterized in that the GPS position information of the moving object is corrected based on the acquired correction position information.

Further, in one aspect of the present invention, in the positioning system, the communication base station can construct the second communication network and a third communication network to which the self-employed mobile communication technology is applied. Communication by one communication network, the second communication network, and the third communication network is possible, and based on the radio field strength of the first communication network, the second communication network, and the third communication network, the first communication network. A terminal device for acquiring the correction position information by switching to any one of one communication network, the second communication network, and the third communication network is provided, and the positioning processing unit is the terminal device. The GPS position information of the moving object is corrected based on the corrected position information acquired by the moving object.

Further, one aspect of the present invention includes a relay communication network that relays between the first communication network and the second communication network in the positioning system, and the fixed base station is the first communication network. The positioning processing unit is arranged within the range, and is characterized in that the correction position information is acquired via the relay communication network and the second communication network.

Further, in one aspect of the present invention, the positioning target area is a farmland, the moving object is a farm machine, and the farm machine in the farm land is based on the position information of the farm machine measured by the positioning system. It is an automatic steering system characterized by including a steering control unit for automatic steering.

Further, one aspect of the present invention is to correct the GPS position information of a moving object measured by using GPS (Global Positioning System) based on the reference position information of a fixed base station measured by using the GPS. It is an RTK (Real Time Kinematic) positioning method that corrects by information, and is a second communication network in which the communication base station is located in the positioning target area and is different from the first communication network provided by the telecommunications carrier. Then, the construction step of constructing a second communication network, which is a composite wireless network network having a plurality of wireless networks arranged so as to cover the positioning target area by a directional antenna, and the positioning processing unit are performed by the communication base station. The corrected position information is acquired via the constructed second communication network, the GPS position information of the moving object is corrected based on the corrected position information, and the moving object in the positioning target area is corrected. It is a positioning method characterized by including a positioning processing step for measuring position information.

Further, one aspect of the present invention is to correct the GPS position information of a moving object measured by using GPS (Global Positioning System) based on the reference position information of a fixed base station measured by using the GPS. It is an RTK (Real Time Kinematic) positioning method that corrects by information, and is a second communication network in which the communication base station is located in the positioning target area and is different from the first communication network provided by the telecommunications carrier. Then, the construction step of constructing the second communication network to which the self-employed mobile communication technology is applied, and the positioning processing unit acquire the correction position information via the second communication network constructed by the communication base station. The positioning method includes a positioning process step of correcting the GPS position information of the moving object based on the corrected position information and measuring the position information of the moving object in the positioning target area. ..

According to the present invention, positioning can be performed with high accuracy even in a place outside the range of the communication network provided by the telecommunications carrier.

It is a block diagram which shows an example of the positioning system and the automatic steering system by 1st Embodiment. It is a figure explaining an example of the positioning process of the positioning system by 1st Embodiment. It is a figure explaining an example of the operation of the automatic steering system by 1st Embodiment. It is a block diagram which shows an example of the positioning system and the automatic steering system by 2nd Embodiment. It is a flowchart which is an example of the communication switching processing of the positioning system by 2nd Embodiment. It is a block diagram which shows an example of the positioning system and the automatic steering system by 3rd Embodiment. It is a block diagram which shows an example of the positioning system and the automatic steering system by 4th Embodiment. It is a flowchart which is an example of the communication switching processing of the positioning system by 4th Embodiment. It is a block diagram which shows an example of the positioning system and the automatic steering system by 5th Embodiment. It is a flowchart which is an example of the communication switching processing of the positioning system by 5th Embodiment.

Hereinafter, a positioning system, an automatic steering system, and a positioning method according to an embodiment of the present invention will be described with reference to the drawings.

[First Embodiment]
FIG. 1 is a block diagram showing an example of the positioning system 1 and the automatic steering system 100 according to the first embodiment.
As shown in FIG. 1, the automatic steering system 100 includes a Base base station 3, a communication base station 4, an IoT (Internet of Things) agricultural machine 6, a server device 43, and a terminal device 62. Further, the automatic steering system 100 includes a positioning system 1.

The positioning system 1 corrects the GPS position information of the IoT agricultural machine 6 measured by using GPS (Global Positioning System) by the correction position information based on the reference position information of the Base base station 3 measured by GPS. This is an RTK (Real Time Kinematic) type positioning system. The positioning system 1 includes a Base base station 3, a communication base station 4, a control device 42, a server device 43, a terminal device 62, a mobile satellite receiver 61 of the IoT agricultural machine 6, and a positioning processing unit 63 (see FIG. 2). ) And.

In FIG. 1, the satellite 2 is a GPS satellite, a GLONASS (Global Navigation Satellite System) satellite, or the like, and although not shown, it is a plurality of satellite groups.
Further, in FIG. 1, the agricultural land A1 is an example of a positioning target area, and is, for example, an area outside the range of the mobile phone communication network (first communication network) provided by a communication carrier such as a mobile phone. Agricultural land A1 is, for example, a farmland in a mountainous area. Here, the hilly and mountainous area refers to a mountainous area and its surrounding areas, and other areas where geographical conditions such as topography are poor and agricultural production conditions are unfavorable, and is intermediate among the area classifications used in agriculture and forestry statistics. The area that combines the agricultural area and the mountainous agricultural area is shown. In mountainous areas, in general, it is often outside the range of the mobile phone communication network (first communication network) provided by a communication carrier such as a mobile phone.

The Base base station 3 (an example of a fixed base station) is an RTK type base station and includes a mobile satellite receiver 31. The Base base station 3 generates correction position information based on the reference position information of the Base base station 3 measured by using GPS, and transmits the correction position information to the terminal device 62. In this embodiment, the case where the Base base station 3 is within the range of the composite wireless network network CNW described later will be described.

The Base base station 3 has a mobile satellite receiver 31, and the mobile satellite receiver 31 receives satellite transmission information from the satellite 2 orbiting the earth.
Further, the Base base station 3 generates reference position information of the Base base station 3 based on the satellite transmission information received by the mobile satellite receiver 31 and compares it with the position information of the Base base station 3 held in advance. To generate correction position information (RTK correction information). The Base base station 3 transmits the generated correction position information to the terminal device 62 via the communication base station 4, which will be described later, using the composite wireless network network CNW.

The communication base station 4 is arranged in, for example, the agricultural land A1 (in the positioning target area), and constructs a composite wireless network network CNW (an example of a second communication network) different from the mobile phone communication network provided by the telecommunications carrier. .. The communication base station 4 constructs a composite wireless network network CNW having a plurality of wireless networks (NW1, NW2, NW3, ...) Arranged so as to cover the agricultural land A1 by the directional antenna 41.

Each of the plurality of wireless networks (NW1, NW2, NW3, ...) Is, for example, a network by a wireless LAN (Local Area Network), and each is assigned an SSID (Service Set ID).
The composite wireless network network CNW is, for example, a network based on composite Wi-Fi (Wi-Fi is a registered trademark).

Assuming that the radio wave reachable distance of a general wireless network when an omnidirectional antenna is used without using the directional antenna 41 is a distance L0, when the directional antenna 41 of the present embodiment is used, the horizontal radio wave transmission angle The radio wave reach is extended to the distance Ln (Ln> L0). The communication base station 4 constructs a complex wireless network network CNW that covers a wide range of agricultural land A1 by constructing a plurality of wireless networks (NW1, NW2, NW3, ...) With the directional antenna 41.

The control device 42 controls the communication base station 4 and the terminal device 62, and authenticates whether or not the terminal device 62 requesting connection is a registered terminal of the positioning system 1.
The server device 43 is a data server that can be connected to the control device 42 via a network such as a composite wireless network network CNW, and holds, for example, a database that stores related information between the Base base station 3 and the IoT agricultural machine 6.

The IoT agricultural machine 6 (an example of a moving object) is, for example, a tractor for farming (an example of an agricultural machine), and includes a mobile satellite receiver 61 and a control unit 60. Further, the IoT agricultural machine 6 is equipped with a terminal device 62.
The mobile satellite receiver 61 receives the satellite transmission information from the satellite 2 and outputs the received satellite transmission information to the control unit 60.

The terminal device 62 is, for example, a smartphone or a tablet terminal, has an interface (for example, a wireless LAN, etc.) that can be connected to the communication base station 4, and is via the composite wireless network network CNW constructed by the communication base station 4. Then, the correction position information is received from the Base base station 3. The terminal device 62 outputs the received correction position information (RTK correction information) to the control unit 60.
The terminal device 62 is set with a roaming function that automatically switches a plurality of wireless networks (NW1, NW2, NW3, ...) possessed by the composite wireless network network CNW by detecting the SSID, and is automatically switched by the roaming function. It shall be switched and connected.

The control unit 60 is, for example, an automatic steering device, generates GPS position information based on satellite transmission information acquired from the mobile satellite receiver 61, and corrects position information (RTK correction information) acquired from Base base station 3. ) Is performed for high-precision positioning, and high-precision automatic driving is controlled based on the high-precision positioning. The control unit 60 includes, for example, a positioning processing unit 63 and a steering control unit 64, as shown in FIG.

The positioning processing unit 63 generates GPS position information based on the satellite transmission information acquired from the mobile satellite receiver 61. Further, the positioning processing unit 63 acquires the correction position information via the composite wireless network network CNW constructed by the communication base station 4, and corrects the GPS position information of the IoT agricultural machine 6 based on the correction position information. Then, the position information (high-precision positioning information) of the IoT agricultural machine 6 in the farmland A1 is measured.
The steering control unit 64 automatically steers the IoT agricultural machine 6 in the agricultural land A1 based on the position information (high-precision positioning information) of the IoT agricultural machine 6 measured by the positioning processing unit 63.

Here, the positioning process of the positioning system 1 according to the present embodiment will be described with reference to FIG.
FIG. 2 is a diagram illustrating an example of positioning processing of the positioning system 1 according to the present embodiment.
As shown in FIG. 2, the positioning processing unit 63 of the control unit 60 acquires the satellite transmission information received from the satellite 2 by the mobile satellite receiver 61, and based on the satellite transmission information, the GPS position information of the IoT agricultural machine 6 (Position coordinates (X, Y, Z)) are generated.

Further, the Base base station 3 acquires the satellite transmission information received from the satellite 2 by the mobile satellite receiver 31, generates the position information of the Base base station 3 based on the satellite transmission information, and uses the generated position information. , The correction position information (RTK correction information (x, y, z)) is generated based on the position information of the Base base station 3 held in advance. The Base base station 3 transmits the generated RTK correction information (x, y, z) to the terminal device 62 using, for example, the composite wireless network network CNW.

The terminal device 62 outputs the RTK correction information (x, y, z) received from the Base base station 3 to the positioning processing unit 63 of the control unit 60.
The positioning processing unit 63 corrects the GPS position information (position coordinates (X, Y, Z)) with the RTK correction information (x, y, z), and corrects the high-precision positioning information (position coordinates (X + x)) of the IoT agricultural machine 6. , Y + y, Z + z))). Further, the positioning processing unit 63 outputs the generated high-precision positioning information (position coordinates (X + x, Y + y, Z + z)) to the steering control unit 64.

The steering control unit 64 controls the automatic steering of the IoT agricultural machine 6 based on the high-precision positioning information (position coordinates (X + x, Y + y, Z + z)) acquired from the positioning processing unit 63.
Assuming that the acquisition time of GPS position information (position coordinates (X, Y, Z)) in the positioning processing unit 63 is time t1 and the acquisition time of RTK correction information (x, y, z) is time t2, the time difference Δt Can be expressed by the following equation (1).

Time difference Δt = time t1-time t2 ... (1)

The larger the time difference Δt, the lower the accuracy of the high-precision positioning information generated by the positioning processing unit 63, and the time difference Δt that can secure the acceptable accuracy is referred to as the RTK correction information allowable delay time t (age0). That is, the limit value of the time difference Δt is referred to as the RTK correction information allowable delay time t (age0).

Returning to FIG. 1 again, when the IoT agricultural machine 6 travels in the range of the composite wireless network network CNW, for example, until it deviates from the range of one wireless network NW1 and enters the range of the next wireless network NW2, the composite wireless network network. There may be a period during which you cannot connect to the CNW. For example, in FIG. 1, when the IoT agricultural machine 6 passes through the route R1 and the route R2, the passage period during which the IoT agricultural machine 6 passes through the dead zone of the composite wireless network network CNW corresponds to the period ΔT1 and the period ΔT2. .. In the present embodiment, the directional antenna 41 is adjusted so that the period ΔT1 and the period ΔT2 are equal to or less than the above-mentioned RTK correction information allowable delay time t (age0), and a plurality of wireless networks (NW1, NW2, NW3, ...) is constructed.

In this way, the communication base station 4 uses the correction position information for the passage period (for example, period ΔT1 and period ΔT2) in which the IoT agricultural machine 6 passes through the dead zone of the composite wireless network network CNW generated at the boundary of the plurality of wireless networks. The composite wireless network network CNW is constructed so as to be shorter than the permissible period (for example, RTK correction information permissible delay time t (age0)) that cannot be acquired and can maintain a predetermined accuracy.

Next, the operation of the automatic steering system 100 according to the present embodiment will be described with reference to FIG.
FIG. 3 is a diagram illustrating an example of the operation of the automatic steering system 100 according to the present embodiment.
As shown in FIG. 3, first, the IoT agricultural machine 6 acquires the CPS position of the IoT agricultural machine 6 by GPS (step S101). The positioning processing unit 63 of the IoT agricultural machine 6 generates GPS position information based on the satellite transmission information acquired from the mobile satellite receiver 61.

Further, in parallel with the process of step S101, the Base base station 3 acquires the position information of the Base base station 3 by GPS (step S102). The Base base station 3 generates the position information of the Base base station 3 based on the satellite transmission information acquired from the mobile satellite receiver 31.

Next, the Base base station 3 generates correction position information (step S103). The Base base station 3 generates correction position information based on the generated position information of the Base base station 3 and the position information of the Base base station 3 held in advance.

Next, the Base base station 3 transmits the generated correction position information to the IoT agricultural machine 6 (step S104). The Base base station 3 transmits the correction position information to the terminal device 62 of the IoT agricultural machine 6 via, for example, the composite wireless network network CNW, and the terminal device 62 processes the received correction position information in the positioning process of the IoT agricultural machine 6. It is transmitted to unit 63.
After the processing of step S104, the Base base station 3 returns the processing to step S102, and repeats the processing of steps S102 to S104 at predetermined time intervals.

Next, the positioning processing unit 63 of the IoT agricultural machine 6 corrects the GPS position information with the corrected position information to generate high-precision position information (step S105).
Next, the steering control unit 64 of the IoT agricultural machine 6 executes automatic steering control based on the high-precision position information (step S106). After the process of step S106, the IoT agricultural machine 6 returns the process to step S101 and repeats the processes of step S101, step S105, and step S106 at predetermined time intervals.

As described above, in the positioning system 1 according to the present embodiment, the GPS position information of the IoT agricultural machine 6 (moving object) measured by using GPS is used as the Base base station 3 (fixed) measured by using GPS. It is an RTK type positioning system that corrects based on the correction position information based on the reference position information of the base station), and includes a communication base station 4 and a positioning processing unit 63. The communication base station 4 is a composite radio having a plurality of wireless networks (NW1, NW2, ...) Arranged in the agricultural land A1 (in the positioning target area) and arranged so as to cover the agricultural land A1 by the directional antenna 41. Network network CNW (second communication network) is constructed. Here, the composite wireless network network CNW is a second communication network different from the mobile phone communication network MNW (first communication network) provided by the telecommunications carrier. The positioning processing unit 63 acquires the correction position information via the composite wireless network network CNW constructed by the communication base station 4, corrects the GPS position information of the IoT agricultural machine 6 based on the correction position information, and corrects the GPS position information. The position information (high-precision position information) of the IoT agricultural machine 6 in the farmland A1 is measured.

As a result, the positioning system 1 according to the present embodiment uses the composite wireless network network CNW to acquire correction position information, so that a communication network (for example, LTE mobile phone) provided by a telecommunications carrier such as a mountainous area can be obtained. Positioning can be performed with high accuracy even in places outside the range of the telephone communication network.
Further, in the positioning system 1 according to the present embodiment, since the radio wave reachable distance of the wireless network becomes long by using the directional antenna 41, the number of installed communication base stations 4 is reduced, and a wide range of agricultural land A1 (positioning target). Area) positioning can be supported. Further, the positioning system 1 according to the present embodiment can perform highly accurate position measurement at low cost.

Further, in the present embodiment, the communication base station 4 corrects the passage period (for example, period ΔT1 and period ΔT2) through which the IoT agricultural machine 6 passes through the dead zone of the composite wireless network network CNW generated at the boundary of a plurality of wireless networks. The composite wireless network network CNW is constructed so as to be shorter than the permissible period (for example, RTK correction information permissible delay time t (age0)) in which the position information cannot be acquired and the predetermined accuracy can be maintained.
As a result, the positioning system 1 according to the present embodiment can perform positioning while maintaining high accuracy even when a dead zone of the composite wireless network network CNW that occurs at the boundary of a plurality of wireless networks occurs.

Further, in the automatic steering system 100 according to the present embodiment, the positioning target area is the agricultural land A1, the moving object is the agricultural machine (IoT agricultural machine 6), and the position of the agricultural machine (IoT agricultural machine 6) measured by the positioning system 1 described above. A steering control unit 64 that automatically steers the agricultural machine (IoT agricultural machine 6) in the agricultural land A1 based on the information (high-precision position information) is provided.
As a result, the automatic steering system 100 according to the present embodiment has the same effect as the positioning system 1 described above, and even in a place outside the range of the communication network provided by the telecommunications carrier, for example, in a mountainous area. Positioning can be performed with high accuracy. Further, the automatic steering system 100 according to the present embodiment can realize automatic steering by the IoT agricultural machine 6 for the agricultural land A1 in the mountainous area, for example, and greatly improves the work efficiency of agriculture in the mountainous area. Can be improved.

In addition, by applying the automatic steering system 100 according to the present embodiment, even in areas where it has been difficult to apply automatic steering or the like to agriculture (for example, mountainous areas), it is consistent with each stage of farming. It will be possible to apply farming methods that utilize automatic steering, and it will be possible to promote smarter agriculture in mountainous areas.

Further, in the positioning method according to the present embodiment, the GPS position information of the IoT agricultural machine 6 measured by using GPS is corrected by the correction position information based on the reference position information of the Base base station 3 measured by using GPS. This is an RTK-type positioning method that includes a construction step and a positioning processing step. In the construction step, the communication base station 4 is arranged in the farmland A1 and is a composite wireless network network CNW different from the mobile phone communication network MNW provided by the telecommunications carrier, and the inside of the farmland A1 is covered by the directional antenna 41. A composite wireless network network CNW having a plurality of wireless networks arranged in such a manner is constructed. In the positioning processing step, the positioning processing unit 63 acquires the correction position information via the composite wireless network network CNW constructed by the communication base station 4, and based on the correction position information, the GPS position information of the IoT agricultural machine 6 Is corrected, and the position information (high-precision position information) of the IoT agricultural machine 6 in the farmland A1 is measured.

As a result, the positioning method according to the present embodiment has the same effect as the positioning system 1 described above, and for example, the range of the communication network (for example, LTE mobile phone communication network) provided by the communication carrier such as the mountainous area. Positioning can be performed with high accuracy even in an outside location.

Further, according to the present embodiment, various automatically collected data linked with high-precision position information of the operating status of the traveling moving object such as the IoT agricultural machine 6 is transmitted to the server device 43 via the network to the server device. 43 can store various automatically collected data in the database. As a result, the positioning system 1 (automatic steering system 100) according to the present embodiment enables the accumulation of big data such as agriculture, so that big data corresponding to large-scale, labor-saving agriculture with good efficiency and accuracy can be utilized. Can be promoted.

[Second Embodiment]
Next, the positioning system 1a and the automatic steering system 100a according to the second embodiment will be described with reference to the drawings.
In the present embodiment, a modified example in which the Base base station 3 is installed in the range of the mobile phone communication network MNW outside the range of the composite wireless network network CNW will be described.

FIG. 4 is a block diagram showing an example of the positioning system 1a and the automatic steering system 100a according to the second embodiment.
As shown in FIG. 4, the automatic steering system 100a includes a Base base station 3, a communication base station 4, an IoT agricultural machine 6, a control device 42, a server device 43, and a terminal device 62. Further, the automatic steering system 100a includes a positioning system 1a.

Further, the positioning system 1a is an RTK type positioning system, and includes a Base base station 3, a communication base station 4, a control device 42, a server device 43, a terminal device 62, and an IoT agricultural machine 6.
In FIG. 4, the same reference numerals are given to the same configurations as those in the first embodiment shown in FIG. 1 described above, and the description thereof will be omitted.

The Base base station 3 and the control device 42 in the present embodiment are installed within the range MNA of the mobile phone communication network MNW, and the positioning system 1a is located between the mobile phone communication network MNW and the composite wireless network network CNW. It is provided with a relay communication line 71 (an example of a relay communication network) that relays the above.

When the control device 42 and the Base base station 3 are within the range MNA of the mobile phone communication network MNW, the relay communication line 71 transmits the control signal and the position correction information within the range of the composite wireless network network CNW. The communication is relayed to the base station 4.

Further, in the present embodiment, the Base base station 3 is arranged within the range of the mobile phone communication network MNW (within the range MNA), and the positioning processing unit 63 goes through the relay communication line 71 and the composite wireless network network CNW. Then, the correction position information is acquired.

Further, the terminal device 62 of the present embodiment can communicate with both the mobile phone communication network MNW and the composite wireless network network CNW. The terminal device 62 switches between communication by the mobile phone communication network MNW and communication by the composite wireless network network CNW based on the radio wave strength of the mobile phone communication network MNW and the composite wireless network network CNW, and performs communication to perform correction position information. To get.
Since other configurations are the same as those of the first embodiment described above, the description thereof will be omitted here.

Next, the operation of the positioning system 1a and the automatic steering system 100a according to the present embodiment will be described with reference to the drawings.
Since the basic operations of the positioning system 1a and the automatic steering system 100a according to the present embodiment are the same as those of the first embodiment described above, the description thereof will be omitted here.

In the positioning system 1a according to the present embodiment, the IoT agricultural machine 6 and the terminal device 62 can be used either within the range of the mobile phone communication network MNW (within the range MNA) or within the range of the composite wireless network network CNW. A process of switching between communication by the mobile phone communication network MNW by the terminal device 62 and communication by the composite wireless network network CNW will be described.

FIG. 5 is a flowchart of an example of the communication switching process of the positioning system 1a according to the present embodiment.
As shown in FIG. 5, for example, the terminal device 62 determines whether or not it is within the range of the communication network of the telecommunications carrier (step S201). The terminal device 62 determines whether or not it is within the range of the mobile phone communication network MNW (within the range MNA) based on the radio wave strength. The terminal device 62 advances the process to step S202 when it is within the range of the mobile phone communication network MNW (within the range MNA) (step S201: YES). Further, the terminal device 62 advances the process to step S203 when it is not within the range of the mobile phone communication network MNW (within the range MNA) (step S201: NO).

In step S202, the terminal device 62 communicates on the communication network of the telecommunications carrier. That is, the terminal device 62 connects to the mobile phone communication network MNW and acquires correction information from the Base base station 3 via the mobile phone communication network MNW. After the process of step S202, the terminal device 62 returns the process to step S201.

Further, in step S203, the terminal device 62 communicates on the composite wireless network network CNW. That is, the terminal device 62 connects to the composite wireless network network CNW and acquires correction information from the Base base station 3 via the composite wireless network network CNW and the relay communication line 71. When connecting to the composite wireless network network CNW, the terminal device 62 connects based on the SSIDs assigned to each of the plurality of wireless networks (NW1, NW2, NW3, ...), And the plurality of wireless networks. Whether to connect to any of (NW1, NW2, NW3, ...) Is determined by using the roaming function based on the radio wave strength. After the process of step S203, the terminal device 62 returns the process to step S201.

In the above-mentioned example, the terminal device 62 gives priority to the mobile phone communication network MNW for connection, but when both the mobile phone communication network MNW and the composite wireless network network CNW can be connected, , A communication network having a strong radio wave strength (a communication network that can be connected more stably) may be preferentially connected. Further, in the above-described example, the example in which the terminal device 62 automatically switches between the mobile phone communication network MNW and the composite wireless network network CNW has been described, but the switching may be performed manually.

As described above, in the positioning system 1a according to the present embodiment, the terminal device 62 can communicate with both the mobile phone communication network MNW (first communication network) and the composite wireless network network CNW (second communication network). Is. The terminal device 62 switches between communication by the mobile phone communication network MNW and communication by the composite wireless network network CNW based on the radio wave strength of the mobile phone communication network MNW and the composite wireless network network CNW, and performs communication to perform correction position information. To get. Then, the positioning processing unit 63 corrects the GPS position information of the IoT agricultural machine 6 based on the correction position information acquired by the terminal device 62.

As a result, the positioning system 1a (automatic steering system 100a) according to the present embodiment can be used for both the farmland within the range (within the range MNA) of the mobile phone communication network MNW (first communication network) and the farmland such as a mountainous area. It is possible to improve the convenience. Further, since the terminal device 62 can automatically switch the communication network based on the radio wave strength, the positioning system 1a (automatic steering system 100a) according to the present embodiment is, for example, within the range of the mobile phone communication network MNW. The IoT farm machine 6 can be automatically steered in a farmland or the like in a place where the outside of the range is mixed, and the convenience can be further improved.

Further, the positioning system 1a (automatic steering system 100a) according to the present embodiment includes a relay communication network (relay communication line 71) that relays between the mobile phone communication network MNW and the composite wireless network network CNW. The Base base station 3 is arranged within the range of the mobile phone communication network MNW (within the range MNA), and the positioning processing unit 63 via the relay communication network (relay communication line 71 and the composite wireless network network CNW). Acquire correction position information.

As a result, in the positioning system 1a (automatic steering system 100a) according to the present embodiment, even when the Base base station 3 is arranged within the range of the mobile phone communication network MNW (within the range MNA), for example, the mountainous area Positioning can be performed with high accuracy in places outside the range of the mobile phone communication network MNW such as areas. That is, in the positioning system 1a (automatic steering system 100a) according to the present embodiment, it is not necessary to install the Base base station 3 on the farmland A1, and even if there is no place to install the Base base station 3, the automatic steering of the IoT agricultural machine 6 is performed. Becomes possible.

[Third Embodiment]
Next, the positioning system 1b and the automatic steering system 100b according to the third embodiment will be described with reference to the drawings.
In the present embodiment, a modification in the case where the self-employed mobile communication network PMNW is used as the second communication network instead of the composite wireless network network CNW in the above-mentioned first embodiment will be described.

FIG. 6 is a block diagram showing an example of the positioning system 1b and the automatic steering system 100b according to the third embodiment.
As shown in FIG. 6, the automatic steering system 100b includes a Base base station 3, a communication base station 5, an IoT agricultural machine 6, a control device 42, a server device 43, a self-employed mobile communication control device 51, and a terminal device. It has 62 and. Further, the automatic steering system 100b includes a positioning system 1b.

Further, the positioning system 1b is an RTK type positioning system, and includes a Base base station 3, a communication base station 5, a self-employed mobile communication control device 51, a control device 42, a server device 43, and a terminal device 62. It is equipped with an IoT agricultural machine 6.
In FIG. 6, the same reference numerals are given to the same configurations as those in the first embodiment shown in FIG. 1 described above, and the description thereof will be omitted. The positioning system 1b is the same as that of the first embodiment except that the communication base station 4 of the first embodiment is replaced with the communication base station 5 and a self-employed mobile communication control device 51 is added.

The communication base station 5 is arranged in, for example, the agricultural land A1 (in the positioning target area), and constructs a self-employed mobile communication network PMNW (an example of a second communication network) different from the mobile phone communication network provided by the telecommunications carrier. .. Here, the self-employed mobile communication network PMNW is, for example, a private LTE, and is a self-employed mobile communication network to which a self-employed digital mobile communication technology is applied. Here, the digital mobile communication technology includes communication technology called LTE technology, LTE-A (LTE-Advanced) technology, eLTE (enhanced LTE) technology, RAT (Radio Access Technology), 5G technology, and the like. The communication base station 5 has a self-employed mobile master unit 52, and constructs a self-employed mobile communication network PMNW by outputting radio waves from the self-employed mobile master unit 52.

The self-employed mobile communication control device 51 controls the self-employed mobile communication network PMNW by the communication base station 5, controls the communication base station 5 and the terminal device 62, and the terminal device 62 requesting a connection registers the positioning system 1b. Authenticate whether it is a terminal or not.
The server device 43 is a data server that can be connected to the self-employed mobile communication control device 51 via a network such as the self-employed mobile communication network PMNW. Hold. The server device 43 communicates with the self-employed mobile communication control device 51 via the control device 42.

The positioning processing unit 63 acquires the correction position information (RTK correction information) via the self-employed mobile communication network PMNW constructed by the communication base station 5, and based on the correction position information, the GPS position information of the IoT agricultural machine 6 Is corrected, and the position information (high-precision position information) of the IoT farm machine 6 in the farmland A1 is measured.

Further, the operation of the positioning system 1b and the automatic steering system 100b according to the present embodiment is the same as that of the first embodiment except that the self-employed mobile communication network PMNW is used instead of the composite wireless network network CNW. Therefore, the description thereof will be omitted here.

As described above, in the positioning system 1b according to the present embodiment, the GPS position information of the IoT agricultural machine 6 (moving object) measured by using GPS is used as the Base base station 3 (fixed) measured by using GPS. It is an RTK type positioning system that corrects based on the correction position information based on the reference position information of the base station), and includes a communication base station 5 and a positioning processing unit 63. The communication base station 5 is arranged in the agricultural land A1 (in the positioning target area), and constructs a self-employed mobile communication network PMNW (second communication network) to which the self-employed mobile communication technology is applied. Here, the self-employed mobile communication network PMNW is a second communication network different from the mobile phone communication network MNW (first communication network) provided by the telecommunications carrier. The positioning processing unit 63 acquires the correction position information via the self-employed mobile communication network PMNW constructed by the communication base station 5, corrects the GPS position information of the IoT agricultural machine 6 based on the correction position information, and corrects the GPS position information. The position information (high-precision position information) of the IoT agricultural machine 6 in the farmland A1 is measured.

As a result, the positioning system 1b according to the present embodiment uses the self-employed mobile communication network PMNW to acquire correction position information. Therefore, for example, a communication network provided by a communication carrier such as a mountainous area (for example, LTE mobile phone). Positioning can be performed with high accuracy even in places outside the range of the telephone communication network.

Further, in the positioning method according to the present embodiment, the GPS position information of the IoT agricultural machine 6 measured by using GPS is corrected by the correction position information based on the reference position information of the Base base station 3 measured by using GPS. This is an RTK-type positioning method that includes a construction step and a positioning processing step. In the construction step, the communication base station 5 is a self-employed mobile communication network PMNW that is arranged in the farmland A1 and is different from the mobile phone communication network MNW provided by the telecommunications carrier, and is a self-employed mobile communication to which the self-employed mobile communication technology is applied. Build a network PMNW. In the positioning processing step, the positioning processing unit 63 acquires the correction position information via the self-employed mobile communication network PMNW constructed by the communication base station 5, and based on the correction position information, the GPS position information of the IoT agricultural machine 6 Is corrected, and the position information (high-precision position information) of the IoT agricultural machine 6 in the farmland A1 is measured.

As a result, the positioning method according to the present embodiment has the same effect as the positioning system 1b described above, and is within the range of the communication network (for example, LTE mobile phone communication network) provided by the communication carrier such as the mountainous area. Positioning can be performed with high accuracy even in an outside location.

[Fourth Embodiment]
Next, the positioning system 1c and the automatic steering system 100c according to the fourth embodiment will be described with reference to the drawings.
In the present embodiment, in the third embodiment, a modified example in which the Base base station 3 is installed within the range of the mobile phone communication network MNW outside the range of the self-employed mobile communication network PMNW will be described.

FIG. 7 is a block diagram showing an example of the positioning system 1c and the automatic steering system 100c according to the fourth embodiment.
As shown in FIG. 7, the automatic steering system 100c includes a Base base station 3, a communication base station 5, an IoT agricultural machine 6, a control device 42, a server device 43, a self-employed mobile communication control device 51, and a terminal device. It has 62 and. Further, the automatic steering system 100c includes a positioning system 1c.

Further, the positioning system 1c is an RTK type positioning system, and includes a Base base station 3, a communication base station 5, a self-employed mobile communication control device 51, a control device 42, a server device 43, a terminal device 62, and the like. It is equipped with an IoT agricultural machine 6.
In FIG. 7, the same reference numerals are given to the same configurations as those in the third embodiment shown in FIG. 6 described above, and the description thereof will be omitted.

The Base base station 3 and the self-employed mobile communication control device 51 in the present embodiment are installed within the range MNA of the mobile phone communication network MNW, and the positioning system 1c includes the mobile phone communication network MNW and the self-employed mobile communication network PMNW. It is provided with a relay communication line 72 (an example of a relay communication network) that relays between and.

When the self-employed mobile communication control device 51 and the Base base station 3 are within the range MNA of the mobile phone communication network MNW, the relay communication line 72 transmits the control signal and the position correction information within the range of the self-employed mobile communication network PMNW. The communication is relayed to the communication base station 5 in.

Further, in the present embodiment, the Base base station 3 is arranged within the range of the mobile phone communication network MNW (within the range MNA), and the positioning processing unit 63 goes through the relay communication line 72 and the self-employed mobile communication network PMNW. Then, the correction position information is acquired.

Further, the terminal device 62 of the present embodiment can communicate with both the mobile phone communication network MNW and the self-employed mobile communication network PMNW. The terminal device 62 switches between communication by the mobile phone communication network MNW and communication by the self-employed mobile communication network PMNW based on the radio field strength of the mobile phone communication network MNW and the self-employed mobile communication network PMNW, and performs communication to perform correction position information. To get. The terminal device 62 is equipped with, for example, both a SIM (Subscriber Identity Module) card for the mobile phone communication network MNW and a SIM card for the self-employed mobile communication network PMNW, and these two SIM cards are switched and used. By doing so, the communication by the mobile phone communication network MNW and the communication by the self-employed mobile communication network PMNW are switched.
Since other configurations are the same as those of the third embodiment described above, the description thereof will be omitted here.

Next, the operation of the positioning system 1c and the automatic steering system 100c according to the present embodiment will be described with reference to the drawings.
Since the basic operations of the positioning system 1c and the automatic steering system 100c according to the present embodiment are the same as those of the first to third embodiments described above, the description thereof will be omitted here.

In the positioning system 1c according to the present embodiment, the IoT agricultural machine 6 and the terminal device 62 can be used either within the range of the mobile phone communication network MNW (within the range MNA) or within the range of the self-employed mobile communication network PMNW. A process of switching between communication by the mobile phone communication network MNW by the terminal device 62 and communication by the self-employed mobile communication network PMNW will be described.

FIG. 8 is a flowchart showing an example of the communication switching process of the positioning system 1c according to the present embodiment.
As shown in FIG. 8, for example, the terminal device 62 determines whether or not it is within the range of the communication network of the telecommunications carrier (step S301). The terminal device 62 determines whether or not it is within the range of the mobile phone communication network MNW (within the range MNA) based on the radio wave strength. The terminal device 62 advances the process to step S302 when it is within the range of the mobile phone communication network MNW (within the range MNA) (step S301: YES). Further, the terminal device 62 advances the process to step S303 when it is not within the range of the mobile phone communication network MNW (within the range MNA) (step S301: NO).

In step S302, the terminal device 62 communicates on the communication network of the telecommunications carrier. That is, the terminal device 62 connects to the mobile phone communication network MNW using the SIM card for the mobile phone communication network MNW, and acquires correction information from the Base base station 3 via the mobile phone communication network MNW. .. After the process of step S302, the terminal device 62 returns the process to step S301.

Further, in step S303, the terminal device 62 communicates with the self-employed mobile communication network PMNW. That is, the terminal device 62 is connected to the self-employed mobile communication network PMNW by using the SIM card for the self-employed mobile communication network PMNW, and is transmitted from the Base base station 3 via the self-employed mobile communication network PMNW and the relay communication line 72. Get correction information. After the process of step S303, the terminal device 62 returns the process to step S301.

In the above-mentioned example, the terminal device 62 gives priority to the mobile phone communication network MNW for connection, but when both the mobile phone communication network MNW and the self-employed mobile communication network PMNW can be connected, , A communication network having a strong radio wave strength (a communication network that can be connected more stably) may be preferentially connected. Further, in the above-described example, the example in which the terminal device 62 automatically switches between the mobile phone communication network MNW and the self-employed mobile communication network PMNW has been described, but the switching may be performed manually.

As described above, in the positioning system 1c according to the present embodiment, the terminal device 62 can communicate with both the mobile phone communication network MNW (first communication network) and the self-employed mobile communication network PMNW (second communication network). Is. The terminal device 62 switches between communication by the mobile phone communication network MNW and communication by the self-employed mobile communication network PMNW based on the radio field strength of the mobile phone communication network MNW and the self-employed mobile communication network PMNW, and performs communication to perform correction position information. To get. Then, the positioning processing unit 63 corrects the GPS position information of the IoT agricultural machine 6 based on the correction position information acquired by the terminal device 62.

As a result, the positioning system 1c (automatic steering system 100c) according to the present embodiment can be used for both the farmland within the range of the mobile phone communication network MNW (first communication network) (within the range MNA) and the farmland such as a mountainous area. It is possible to improve the convenience. Further, since the terminal device 62 can automatically switch the communication network based on the radio wave strength, the positioning system 1c (automatic steering system 100c) according to the present embodiment is, for example, within the range of the mobile phone communication network MNW. The IoT farm machine 6 can be automatically steered in a farmland or the like in a place where the outside of the range is mixed, and the convenience can be further improved.

[Fifth Embodiment]
Next, the positioning system 1d and the automatic steering system 100d according to the fifth embodiment will be described with reference to the drawings.
In this embodiment, a modified example in which the above-mentioned second embodiment and the fourth embodiment are combined will be described.

FIG. 9 is a block diagram showing an example of the positioning system 1d and the automatic steering system 100d according to the fifth embodiment.
As shown in FIG. 9, the automatic steering system 100d includes a Base base station 3, a communication base station 4, a communication base station 5, an IoT agricultural machine 6, a control device 42, a server device 43, and a self-employed mobile communication control. It includes a device 51 and a terminal device 62. Further, the automatic steering system 100d includes a positioning system 1d. In the present embodiment, the self-employed mobile communication network PMNW will be described as a third communication network.

In FIG. 9, the same reference numerals are given to the same configurations as those of the second and fourth embodiments shown in FIGS. 4 and 7 described above, and the description thereof will be omitted.
Further, the terminal device 62 of the present embodiment includes a mobile phone communication network MNW (first communication network), a composite wireless network network CNW (second communication network), and a self-employed mobile communication network PMNW (third communication network). All communication is possible. The terminal device 62 includes communication by the mobile phone communication network MNW, communication by the composite wireless network network CNW, and self-employed mobile based on the radio wave strength of the mobile phone communication network MNW, the composite wireless network network CNW, and the self-employed mobile communication network PMNW. The correction position information is acquired by switching between the communication by the communication network PMNW and the communication.

Next, the operation of the positioning system 1d and the automatic steering system 100d according to the present embodiment will be described with reference to the drawings.
Since the basic operations of the positioning system 1d and the automatic steering system 100d according to the present embodiment are the same as those of the second and fourth embodiments described above, the description thereof will be omitted here.

In the positioning system 1d according to the present embodiment, the IoT agricultural machine 6 and the terminal device 62 are within the range of the mobile phone communication network MNW (within the range MNA), within the range of the composite wireless network network CNW, and the self-employed mobile communication network PMNW. The process of switching between the communication by the mobile phone communication network MNW by the terminal device 62, the communication by the composite wireless network network CNW, and the communication by the self-employed mobile communication network PMNW will be described.

FIG. 10 is a flowchart of an example of the communication switching process of the positioning system 1d according to the present embodiment.
As shown in FIG. 10, for example, the terminal device 62 determines whether or not it is within the range of the communication network of the telecommunications carrier (step S401). The terminal device 62 determines whether or not it is within the range of the mobile phone communication network MNW (within the range MNA) based on the radio wave strength. The terminal device 62 advances the process to step S402 when it is within the range of the mobile phone communication network MNW (within the range MNA) (step S401: YES). Further, the terminal device 62 advances the process to step S403 when it is not within the range of the mobile phone communication network MNW (within the range MNA) (step S401: NO).

In step S402, the terminal device 62 communicates on the communication network of the telecommunications carrier. That is, the terminal device 62 connects to the mobile phone communication network MNW and acquires correction information from the Base base station 3 via the mobile phone communication network MNW. After the process of step S402, the terminal device 62 returns the process to step S401.

Further, in step S403, the terminal device 62 determines whether or not it is within the range of the self-employed mobile communication network PMNW. When the terminal device 62 is within the range of the self-employed mobile communication network PMNW (step S403: YES), the terminal device 62 advances the process to step S404. Further, when the terminal device 62 is not within the range of the self-employed mobile communication network PMNW (step S403: NO), the processing proceeds to step S405.

In step S404, the terminal device 62 communicates with the self-employed mobile communication network PMNW. That is, the terminal device 62 connects to the self-employed mobile communication network PMNW, and acquires correction information from the Base base station 3 via the self-employed mobile communication network PMNW and the relay communication line 72. After the process of step S404, the terminal device 62 returns the process to step S401.

Further, in step S405, the terminal device 62 communicates on the composite wireless network network CNW. That is, the terminal device 62 connects to the composite wireless network network CNW and acquires correction information from the Base base station 3 via the composite wireless network network CNW and the relay communication line 71. After the process of step S405, the terminal device 62 returns the process to step S401.

In the above-mentioned example, the terminal device 62 preferentially connects the mobile phone communication network MNW, but the mobile phone communication network MNW, the composite wireless network network CNW, and the self-employed mobile communication network PMNW When the three can be connected, a communication network having a strong radio wave strength (a communication network that can be connected more stably) may be preferentially connected. Further, in the above-described example, the terminal device 62 automatically switches between the mobile phone communication network MNW, the composite wireless network network CNW, and the self-employed mobile communication network PMNW, but the switching may be performed manually. ..

As described above, in the positioning system 1d according to the present embodiment, the communication base stations (4, 5) construct the composite wireless network network CNW (second communication network), and the self-employed mobile to which the self-employed mobile communication technology is applied. A communication network PMNW (third communication network) can be constructed. The terminal device 62 can communicate by the mobile phone communication network MNW (first communication network), the composite wireless network network CNW (second communication network), and the self-employed mobile communication network PMNW (third communication network). The terminal device 62 is one of the mobile phone communication network MNW, the composite wireless network network CNW, and the self-employed mobile communication network PMNW based on the radio wave strength of the mobile phone communication network MNW, the composite wireless network network CNW, and the third communication network. Switch to either one to communicate and acquire the correction position information.

As a result, the positioning system 1d (automatic steering system 100d) according to the present embodiment can be used for both the farmland within the range of the mobile phone communication network MNW (first communication network) (within the range MNA) and the farmland such as a mountainous area. It is possible to improve the convenience. The positioning system 1d (automatic steering system 100d) according to the present embodiment can smoothly perform high-precision positioning and automatic steering operation regardless of whether it is inside or outside the range of the mobile phone communication network MNW. Further, since the terminal device 62 switches and uses a plurality of communication networks based on the radio wave strength, an appropriate communication network can be selected according to the terrain and the communication state, and highly reliable positioning and automatic steering can be performed. Can be realized.

The present invention is not limited to each of the above embodiments, and can be modified without departing from the spirit of the present invention.
In each of the above embodiments, the example in which the IoT agricultural machine 6 is a tractor has been described, but the present invention is not limited to this, and other IoT agricultural machines may be used.

Further, in each of the above embodiments, the positioning system 1 (1a to 1d) and the automatic steering system 100 (100a to 100d) have one Base base station 3, one communication base station 4, and one communication. Although the example including the base station 5 has been described, the present invention is not limited to this, and a plurality of each of the Base base station 3, the communication base station 4, and the communication base station 5 may be provided.

Although application examples in the agricultural field have been described in each of the above embodiments, the present invention can be similarly applied to positioning measurement in other fields. For example, in addition to mounting the terminal device 62 on a work machine such as a tractor, by mounting it on a robot or the like, it can be applied not only to agriculture but also to traveling moving objects such as construction, exploration, and disaster relief.

Each configuration included in the positioning system 1 (1a to 1d) and the automatic steering system 100 (100a to 100d) described above has a computer system inside. Then, a program for realizing the functions of each configuration included in the positioning system 1 (1a to 1d) and the automatic steering system 100 (100a to 100d) described above is recorded on a computer-readable recording medium, and the recording medium is used. By loading the recorded program into the computer system and executing it, the processing in each configuration included in the positioning system 1 (1a to 1d) and the automatic steering system 100 (100a to 100d) described above may be performed. Here, "loading and executing a program recorded on a recording medium into a computer system" includes installing the program in the computer system. The term "computer system" as used herein includes hardware such as an OS and peripheral devices.
Further, the "computer system" may include a plurality of computer devices connected via a network including a communication line such as the Internet, WAN, LAN, and a dedicated line. The "computer-readable recording medium" refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, or a CD-ROM, or a storage device such as a hard disk built in a computer system. As described above, the recording medium in which the program is stored may be a non-transient recording medium such as a CD-ROM.

The recording medium also includes an internal or external recording medium that can be accessed from the distribution server to distribute the program. It should be noted that the program is divided into a plurality of parts, downloaded at different timings, and then combined with each configuration provided in the positioning system 1 (1a to 1d) and the automatic steering system 100 (100a to 100d), or the divided program. The distribution server that distributes each may be different. Furthermore, a "computer-readable recording medium" is a volatile memory (RAM) inside a computer system that serves as a server or client when a program is transmitted via a network, and holds the program for a certain period of time. It shall also include things. Further, the above program may be for realizing a part of the above-mentioned functions. Further, a so-called difference file (difference program) may be used, which can realize the above-mentioned functions in combination with a program already recorded in the computer system.

Further, a part or all of the above-mentioned functions may be realized as an integrated circuit such as an LSI (Large Scale Integration). Each of the above-mentioned functions may be made into a processor individually, or a part or all of them may be integrated into a processor. Further, the method of making an integrated circuit is not limited to LSI, and may be realized by a dedicated circuit or a general-purpose processor. Further, when an integrated circuit technology that replaces an LSI appears due to advances in semiconductor technology, an integrated circuit based on this technology may be used.

1, 1a, 1b, 1c, 1d Positioning system 2 Satellite 3 Base base station 4, 5 Communication base station 6 IoT Agricultural equipment 31, 61 Mobile satellite receiver 41 Directional antenna 42 Control device 43 Server device 51 Self-employed mobile communication control device 52 Self-employed mobile master unit 60 Control unit 62 Terminal device 63 Positioning processing unit 64 Steering control unit 71, 72 Relay communication line 100, 100a, 100b, 100c, 100d Automatic steering system MNW Mobile phone communication network CNW Composite wireless network network PMNW Self-employed mobile communication network

Claims (9)

RTK (Real Time Kinematic) that corrects the GPS position information of a moving object measured using GPS (Global Positioning System) with the correction position information based on the reference position information of the fixed base station measured using GPS. ) Method positioning system
It is a second communication network that is arranged in the positioning target area and is different from the first communication network provided by the telecommunications carrier, and has a plurality of wireless networks arranged so as to cover the positioning target area by a directional antenna. A communication base station that constructs a second communication network, which is a complex wireless network,
The correction position information is acquired via the second communication network constructed by the communication base station, and the GPS position information of the moving object is corrected based on the correction position information within the positioning target area. A positioning system including a positioning processing unit that measures the position information of the moving object. The communication base station is
The passage period during which the moving object passes through the dead zone of the second communication network generated at the boundary of the plurality of wireless networks is shorter than the allowable period during which the correction position information cannot be acquired and a predetermined accuracy can be maintained. The positioning system according to claim 1, wherein the composite wireless network is constructed. RTK (Real Time Kinematic) that corrects the GPS position information of a moving object measured using GPS (Global Positioning System) with the correction position information based on the reference position information of the fixed base station measured using GPS. ) Method positioning system
A communication base station that is located in the positioning target area and is different from the first communication network provided by the telecommunications carrier and that constructs the second communication network to which the self-employed mobile communication technology is applied.
The correction position information is acquired via the second communication network constructed by the communication base station, and the GPS position information of the moving object is corrected based on the correction position information within the positioning target area. A positioning system including a positioning processing unit that measures the position information of the moving object. Communication by both the first communication network and the second communication network is possible, and communication by the first communication network and the second communication network based on the radio wave strength of the first communication network and the second communication network. It is equipped with a terminal device that acquires the correction position information by switching between communication via a communication network and performing communication.
The method according to any one of claims 1 to 3, wherein the positioning processing unit corrects the GPS position information of the moving object based on the correction position information acquired by the terminal device. Positioning system. The communication base station can construct the second communication network and a third communication network to which the self-employed mobile communication technology is applied.
Communication by the first communication network, the second communication network, and the third communication network is possible, and based on the radio field strength of the first communication network, the second communication network, and the third communication network, A terminal device for acquiring the correction position information by switching to any one of the first communication network, the second communication network, and the third communication network to perform communication is provided.
The positioning system according to claim 1 or 2, wherein the positioning processing unit corrects GPS position information of the moving object based on the correction position information acquired by the terminal device. A relay communication network that relays between the first communication network and the second communication network is provided.
The fixed base station is arranged within the range of the first communication network.
The positioning system according to any one of claims 1 to 5, wherein the positioning processing unit acquires the correction position information via the relay communication network and the second communication network. .. The positioning target area is agricultural land, and the moving object is an agricultural machine.
A steering control unit that automatically steers the farm machine in the farmland based on the position information of the farm machine measured by the positioning system according to any one of claims 1 to 6 is provided. Automatic steering system. RTK (Real Time Kinetic) that corrects the GPS position information of a moving object measured using GPS (Global Positioning System) with the correction position information based on the reference position information of the fixed base station measured using GPS. ) Method of positioning method
A plurality of communication base stations are arranged in the positioning target area and are a second communication network different from the first communication network provided by the telecommunications carrier, and are arranged so as to cover the positioning target area with a directional antenna. The construction step of constructing the second communication network, which is a composite wireless network with the wireless network of
The positioning processing unit acquires the corrected position information via the second communication network constructed by the communication base station, corrects the GPS position information of the moving object based on the corrected position information, and corrects the GPS position information of the moving object. A positioning method including a positioning processing step of measuring the position information of the moving object in the positioning target area. RTK (Real Time Kinetic) that corrects the GPS position information of a moving object measured using GPS (Global Positioning System) with the correction position information based on the reference position information of the fixed base station measured using GPS. ) Method of positioning method
A construction step in which a communication base station is arranged in a positioning target area and is a second communication network different from the first communication network provided by a telecommunications carrier, and a second communication network to which a self-employed mobile communication technology is applied is constructed. When,
The positioning processing unit acquires the corrected position information via the second communication network constructed by the communication base station, corrects the GPS position information of the moving object based on the corrected position information, and corrects the GPS position information of the moving object. A positioning method including a positioning processing step of measuring the position information of the moving object in the positioning target area.

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