JP2021135060A - Positioning processing device and positioning processing program - Google Patents

Abstract

To provide a technique capable of more easily selecting a positioning satellite system used for positioning at a mobile station.SOLUTION: A positioning processing device 11 for measuring a position of its own device on the basis of a GNSS signal transmitted from a positioning satellite system includes: an information acquisition section 101 for acquiring correction information transmitted from a base station device or a server device; a selection section 102 for selecting at least one or more positioning satellite systems on the basis of the acquired correction information and selection information for giving priority to the positioning satellite systems; a reception setting section 103 for setting a receiver so as to receive the GNSS signal transmitted from the selected positioning satellite system; a position calculation section 104 for calculating a measurement position of its own device on the basis of the GNSS signal received by the receiver; and a position correction section 105 for correcting the measurement position on the basis of the acquired correction information.SELECTED DRAWING: Figure 5

Description

An embodiment of the present invention relates to a technique for correcting a measurement position by a GNSS (Global Navigation Satellite System).

RTK (RealTime Kinetic) -GNSS (hereinafter referred to as RTK-GNSS) is known as a technique for improving the accuracy of the measurement position of a moving body measured by GNSS. This RTK-GNSS includes a mobile station which is a GNSS receiver provided in the mobile body and a base station (fixed station) installed at a point where communication with the mobile body is possible, and correction information generated in the base station. Is used to correct the measurement position by the mobile station.

In addition, there is a network type-RTK-GNSS as a technology for improving the accuracy of the measurement position by using an electronic reference point which is a reference station installed in various places, and VRS (Virtual Reference Station) is one of the network type RTK-GNSS. -RTK-GNSS is known. This VRS-RTK-GNSS generates correction information at a virtual reference point located near the moving body from the measurement information by the electronic reference network by a large number of electronic reference points, and uses this correction information to determine the measurement position by the mobile station. It is to correct.

In addition, as GNSS, GPS (Global Positioning System) operated by the United States, GLONASS (Global Navigation Satellite System) operated by the Russian Federation, Galileo operated by the European Union, BeiDou operated by the People's Republic of China, and Japan. QZSS (Quasi-Zenith Satellite System) and the like to be operated are known. These GNSS are used together depending on the situation.

As a related technology, a dispersion degree calculation unit that is configured to be able to execute positioning calculation processing by combining positioning signals of a plurality of positioning systems such as GPS and GLONASS, and calculates the dispersion degree of a pseudo distance for each captured satellite. For captured satellites whose dispersal degree is equal to or higher than a predetermined threshold, the filter unit is set for satellites that are not used for positioning calculation processing, and the periphery is based on the deletion rate, which is the ratio of the number of unused satellites to the total number of captured satellites. It is equipped with an environment judgment unit that determines whether the environment is open sky, and if it is determined that the surrounding environment is open sky, it is an average positioning among a plurality of compatible positioning systems. A positioning device that performs positioning calculation processing using only a highly accurate positioning system is known (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2017-133973

There are multiple types of RTK-GNSS and network type RTK-GNSS, and the GNSS based on the correction information is not unified in each system. For example, in a certain base station device constituting RTK-GNSS, GPS satellites and GLONASS There is a situation in which correction information for the measurement position by the satellite is generated, and correction information for the measurement position by the GPS satellite and the Galileo satellite is generated in other base station devices.

When a GNSS signal from a positioning satellite system different from the correction target by the correction information is used in the position measurement at the mobile station, the measurement position cannot be properly corrected by the correction information, so that the measurement position cannot be properly corrected by some satellites. Only the GNSS signal will be used, and as a result, the accuracy of the measurement position will decrease.

Further, since the appropriate positioning satellite system differs depending on the positioning area and the like, if the GNSS signal from the positioning satellite system that is the correction target based on the correction information is simply used, the positioning by the inappropriate positioning satellite system will be performed.

In this way, when selecting an appropriate positioning satellite system, it is necessary to consider the positioning target based on the correction information, the positioning area, etc., so the operator who operates RTK-GNSS or network-type RTK-GNSS does not have specialized knowledge. In addition, it is difficult to appropriately select a positioning satellite system used for position measurement in a mobile station, and therefore, there is a problem that the operation of RTK-GNSS and network type RTK-GNSS becomes complicated.

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a technique capable of more easily selecting a positioning satellite system used for positioning in a mobile station.

In order to solve the above-mentioned problems, the positioning processing device of the present embodiment is a positioning processing device that measures the position of its own device based on a GNSS signal transmitted from a positioning satellite system, and is from a base station device or a server device. An information acquisition unit that acquires transmitted correction information, and a selection unit that selects at least one or more positioning satellite systems based on the acquired correction information and selection information that prioritizes positioning satellite systems. , The reception setting unit that sets the receiver to receive the GNSS signal transmitted from the selected positioning satellite system, and the measurement position of the own device is calculated based on the GNSS signal received by the receiver. It includes a position calculation unit and a position correction unit that corrects the measurement position based on the acquired correction information.

According to the present invention, it is possible to more easily select a positioning satellite system used for positioning in a mobile station.

It is a schematic diagram which shows the whole structure of the positioning system which concerns on embodiment. It is the schematic which shows the structure of the tractor which concerns on embodiment. It is a block diagram which shows the hardware configuration of a positioning processing apparatus. It is a block diagram which shows the hardware composition of a base station apparatus. It is a block diagram which shows the functional structure of the positioning processing apparatus. It is a figure which shows the selection information. It is a flowchart which shows the operation of a selection process.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Overall configuration of positioning system)
First, the overall configuration of the positioning system according to the present embodiment will be described. FIG. 1 is a schematic view showing an overall configuration of a positioning system according to an embodiment. FIG. 2 is a schematic view showing the configuration of a tractor.

As shown in FIG. 1, the positioning system according to the present embodiment is an RTK-GNSS including a base station (fixed station) and a mobile station, and is a tractor 1 as a mobile body, a GNSS satellite group 2, and a base station device 3. To be equipped. The tractor 1 is an agricultural work vehicle and is a positioning target in a positioning system. The GNSS satellite group 2 represents a plurality of GNSS satellites used for positioning the tractor 1 and the base station device 3 among the GNSS satellites orbiting the earth.

The base station device 3 is installed at a point where wireless communication is possible with the tractor 1 moving in a predetermined range, receives the GNSS signal (positioning signal) transmitted by each of the GNSS satellite group 2, and is based on the received GNSS signal. To generate correction information.

As shown in FIG. 2, the tractor 1 is a work vehicle having two front wheels and two rear wheels on the vehicle body, which can be steered by the front wheels and can be boarded by the driver D. The vehicle body has a GNSS. Check and input the settings related to the automatic steering of the tractor 1 and the positioning processing device 11 that receives the GNSS signal from the satellite group 2 and performs wireless communication with the base station device 3 and calculates the measurement position of the tractor 1. Drive control that outputs an instruction for controlling the tractor 1 to travel along the route set by the console device 12 based on the positioning position of the tractor 1 calculated by the console device 12 and the positioning processing device 11. A steering drive device 14 for driving an input shaft (not shown) for inputting a handle angle to the steering system of the tractor 1 based on an instruction from the device 13 (see FIG. 3) and the drive control device 13 is provided. The tractor 1 may be an automatic guided vehicle.

(Hardware configuration)
The hardware configuration of the positioning processing device and the base station device will be described. FIG. 3 is a block diagram showing a hardware configuration of the positioning processing device. FIG. 4 is a block diagram showing a hardware configuration of the base station apparatus.

As shown in FIG. 3, as hardware, the positioning processing device 11 includes a GNSS receiver 111, a wireless communication unit 112, an MPU (Micro Processing Unit) 121, a RAM (Random Access Memory) 122, a storage device 123, and an input / output I. / F (Interface) 124 is provided. Further, the console device 12 is a device capable of confirming and inputting the setting related to the automatic steering of the tractor 1 by the driver D. The hardware of the positioning processing device 11 is separated, the GNSS receiver 111 and the wireless communication unit 112 are configured as an antenna unit, and the MPU 121, RAM 122, storage device 123, and input / output I / F 124 are configured as arithmetic processing devices. Is also good.

The GNSS receiver 111 receives the GNSS signal transmitted from the GNSS satellite group 2, and the wireless communication unit 112 performs wireless communication with the base station device 3. The MPU 121 and the RAM 122 cooperate with each other to execute various functions described later, and the storage device 123 stores various data used for processing executed by the various functions. The external I / F 124 is an interface for inputting / outputting data to / from the console device 12 and the drive control device 13 as external devices. The various functions executed by the MPU 121 and the RAM 122 in cooperation may be executed on another computer connected via the network.

As shown in FIG. 4, the base station apparatus 3 includes MPU 301, RAM 302, wireless communication unit 303, and GNSS receiver 304 as hardware. The GNSS receiver 304 receives the GNSS signal transmitted from the GNSS satellite group 2. The wireless communication unit 303 performs wireless communication with the positioning processing device 11. The MPU 301 and the RAM 302 cooperate with each other to generate measurement position information indicating the position of the base station device 3 and correction information for correcting the measurement position based on the GNSS signal received by the GNSS receiver 304, and wirelessly. The measurement position information and the correction information are transmitted to the positioning processing device 11 via the communication unit 303.

(Functional configuration)
The functional configuration of the positioning processing device will be described. FIG. 5 is a block diagram showing a functional configuration of the positioning processing device.

As shown in FIG. 5, the positioning processing device 11 includes an information acquisition unit 101, a selection unit 102, a reception setting unit 103, a position calculation unit 104, and a position correction unit 105 as functions.

The information acquisition unit 101 acquires correction information from the base station device 3. The selection unit 102 selects the satellite positioning system for which the GNSS signal is to be acquired based on the correction information and the selection information described later. The reception setting unit 103 sets the GNSS receiver 111 in the positioning processing device 11 so as to receive the GNSS signal from the satellite belonging to the satellite positioning system selected by the selection unit 102.

The position calculation unit 104 calculates the measurement position of the positioning processing device 11, that is, the measurement position of the tractor 1 equipped with the positioning processing device 11 based on the GNSS signal received by the GNSS receiver 111. The position correction unit 105 corrects the measurement position of the tractor 1 based on the correction information.

(Selection information)
The selection information will be described. FIG. 6 is a diagram showing selection information.

As shown in FIG. 6, the selection information has at least one or more records that associate the priority as a column with the satellite positioning system, and is stored in the storage device 123 of the positioning processing device 11. Positioning satellite systems indicate a set of GNSS systems that should receive GNSS signals. As for the priority, the lower the value, the higher the priority.

In FIG. 6, each record includes a set of two satellite positioning systems including GPS and one other satellite positioning system, but may include only one satellite positioning system. Further, a set of three or more satellite positioning systems may be included. That is, one record in the selection information may be any association between the priority and at least one or more satellite positioning systems. In addition, one satellite positioning system is associated with a set of identifiers uniquely indicating the satellites included in this satellite positioning system.

This selection information shall be stored in advance in the storage device 123 of the positioning processing device 11 by the seller and the maintainer of the positioning processing device 11 having specialized knowledge about satellite positioning, and the area where the positioning system is operated shall be taken into consideration. The priority and the combination of satellite positioning systems are set.

(Setting process)
The setting process in the positioning processing device will be described. FIG. 7 is a flowchart showing the operation of the setting process. It should be noted that this setting process is executed prior to the reception of the GNSS signal in the positioning processing device.

As shown in FIG. 7, first, the information acquisition unit 101 acquires the correction information transmitted by the base station device 3 via the wireless communication unit 112 (S101), and the selection unit 102 refers to the selection information. Among the unselected positioning satellite systems in the selection information, the positioning satellite system having the highest priority is selected (S102).

Next, the reception setting unit 103 determines whether or not the positioning satellite system selected by the selection unit 102 is a correction target based on the correction information acquired by the information acquisition unit 101 (S103). The correction information includes the identifier of the satellite to be corrected, and the reception setting unit 103 determines whether or not the identifier included in the correction information matches the identifier of the satellite in the selected positioning satellite system. By determining, it is determined whether or not the selected positioning satellite system is the correction target based on the correction information.

When the selected positioning satellite system is the correction target by the correction information (S103, YES), the reception setting unit 103 sets the GNSS receiver 111 so as to receive the GNSS signal from the satellite belonging to the selected positioning satellite system. Set (S104).

On the other hand, when the selected positioning satellite system is not the correction target by the correction information (S103, NO), the selection unit 102 selects the positioning satellite system having the highest priority among the unselected positioning satellite systems in the selection information. (S102).

In this way, by selecting the positioning satellite system used for positioning in the mobile station based on the selection information for associating the positioning satellite system with the priority and the correction information including the identifier indicating the satellite to be corrected, it is automatically performed. A suitable positioning satellite system can be selected, and the operation of the positioning system can be facilitated.

In the present embodiment, the positioning satellite system is selected based on the correction information generated by the base station device 3, but the correction generated by the Networked Transport of RTCM via Internet Protocol (Ntrip) server device is used. You may make an informed choice. Further, the correction information generated by the Ntrip server device may be either correction information at the reference point which is the position of the base station device 3 or correction information at the virtual reference point based on the measurement information by the electronic reference network.

The embodiments of the present invention are presented as examples and are not intended to limit the scope of the invention. This novel embodiment can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof.

11 Positioning processing device 101 Information acquisition unit 102 Selection unit 103 Reception setting unit 104 Position calculation unit 105 Position correction unit

Claims (4)

A positioning processing device that measures the position of its own device based on the GNSS signal transmitted from the positioning satellite system.
An information acquisition unit that acquires correction information transmitted from a base station device or server device,
A selection unit that selects at least one or more positioning satellite systems based on the acquired correction information and selection information that prioritizes the positioning satellite system.
A reception setting unit that sets the receiver to receive the GNSS signal transmitted from the selected positioning satellite system, and a reception setting unit.
A position calculation unit that calculates the measurement position of the own device based on the GNSS signal received by the receiver, and a position calculation unit.
A positioning processing device including a position correction unit that corrects the measurement position based on the acquired correction information. The selection unit is characterized in that, among the positioning satellite systems indicated as correction targets by the correction information in the correction information, the positioning satellite system having the highest priority given in the selection information is selected. The positioning processing apparatus according to. The selection information adds priority to a set of multiple positioning satellite systems.
The claim is characterized in that, based on the selection information, the selection unit selects a set of positioning satellite systems having the highest priority attached in the selection information among the positioning satellite systems shown in the correction information. Item 2. The positioning processing apparatus according to item 2. A positioning processing program executed by a computer that measures the position of its own device based on the GNSS signal transmitted from the positioning satellite system.
The computer
An information acquisition unit that acquires correction information transmitted from a base station device or server device,
A selection unit that selects at least one or more positioning satellite systems based on the acquired correction information and selection information that prioritizes the positioning satellite system.
A reception setting unit that sets the receiver to receive the GNSS signal transmitted from the selected positioning satellite system, and a reception setting unit.
A position calculation unit that calculates the measurement position of the own device based on the GNSS signal received by the receiver, and a position calculation unit.
A positioning processing program that functions as a position correction unit that corrects the measurement position based on the acquired correction information.

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