JP2021143861A - Information processor, information processing method, and information processing system - Google Patents

Abstract

To improve accuracy in interference positioning by calculating with high accuracy an integer value bias at a moving body position that needs to be confirmed to identify a correct position of an unknown point in interference positioning using GNSS.SOLUTION: An information processor comprises a calculation part for calculating moving body position information regarding a position of a moving body based on a three-dimensional net average calculation using relative position information indicating a relative position between positions of the moving body at each time and reference point position information indicating a position of a reference point.SELECTED DRAWING: Figure 1

Description

The present invention relates to an information processing apparatus, an information processing method and an information processing system.

Conventionally, interference positioning is known as positioning using GNSS (Global Navigation Satellite System). For example, in interference positioning, the phase of a radio wave (carrier wave) emitted from a positioning satellite is observed at two points, a known point whose position is known and an unknown point whose position is unknown, and the carrier wave between the two points is observed. Based on the phase difference, the path difference of the carrier wave between the two points is calculated. Subsequently, a relative vector (baseline vector) having a known point as a start point and an unknown point as an end point is calculated based on the calculated path difference of the carrier wave between the two points. Finally, the position of the unknown point is calculated based on the position of the known point and the calculated baseline vector. The calculation of the baseline vector from the observation data of the carrier wave is called baseline analysis.

In actual interference positioning, positioning is performed with the double phase difference as a value corresponding to the path difference of the carrier wave between the two points. Further, it is known that the bias of the double phase difference and the ambiguity (Ambiguity) are integer values. Therefore, in order to identify the exact position of the unknown point by interference positioning, it is necessary to determine the integer bias of the double phase difference. For example, Patent Document 1 describes an integer value between a mobile station and a reference station N based on an integer bias between the reference station A and the reference station N and an integer bias between the reference station A and the mobile station. A technique for calculating the bias has been proposed.

International Publication No. 2017/130513

However, in the interference positioning according to the above-mentioned prior art, it is not always possible to specify an accurate position. For example, in the above prior art, an integer value between the mobile station and the reference station N is based on an integer bias between the reference station A and the reference station N and an integer bias between the reference station A and the mobile station. The bias is only calculated, and the exact position is not always specified by the interference positioning.

Therefore, the present disclosure proposes an information processing device, an information processing method, and an information processing system capable of improving the accuracy of interference positioning.

In order to solve the above problems, the information processing apparatus according to the embodiment of the present disclosure includes relative position information indicating the relative position between the positions of the moving body for each time, and the reference point position indicating the position of the reference point. It is provided with a calculation unit for calculating the moving body position information regarding the position of the moving body by the three-dimensional network average calculation using the information.

It is a figure for demonstrating the direct georeference which concerns on embodiment of this disclosure. It is a figure for demonstrating the kinematic positioning which concerns on the prior art. It is a figure for demonstrating the kinematic positioning which concerns on embodiment of this disclosure. It is a figure which shows the structural example of the information processing system which concerns on embodiment of this disclosure. It is a figure which shows an example of information processing which concerns on embodiment of this disclosure. It is a figure which shows the structural example of the information processing apparatus which concerns on embodiment of this disclosure. It is a figure which shows the structural example of the mobile apparatus which concerns on embodiment of this disclosure. It is a figure which shows the configuration example of the GNSS receiving apparatus which concerns on embodiment of this disclosure. It is a flowchart which shows an example of the calculation process of the reference point position information which concerns on embodiment of this disclosure. It is a flowchart which shows an example of the calculation process of the relative position information which concerns on embodiment of this disclosure. It is a flowchart which shows an example of the calculation process of the moving body position information which concerns on embodiment of this disclosure. It is a figure for demonstrating the check of the integer value bias in the interference positioning. It is a figure for demonstrating the check of the integer value bias in kinematic positioning. It is a hardware block diagram which shows an example of the computer which realizes the function of an information processing apparatus.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In each of the following embodiments, the same parts are designated by the same reference numerals, so that duplicate description will be omitted.

The present disclosure will be described according to the order of items shown below.
1. 1. Introduction 1-1. Direct Georeference 1-2. Interference positioning 1-3. Kinematic positioning 2. One Embodiment 2-1. Information processing system configuration 2-2. Outline of information processing 2-3. Configuration of information processing device 2-4. Configuration of mobile device 2-5. Configuration of GNSS receiver 2-6. Calculation process of reference point position information 2-7. Calculation process of relative position information 2-8. Calculation process of moving body position information 3. Effect 4. Hardware configuration

[1. Introduction]
[1-1. Direct Georeferencing]
Georeferencing is a function that gives real-world geographic coordinates to map images captured by scanning, etc., and aerial photographs of the ground (hereinafter referred to as geographical images). By giving geographic coordinates to a geographic image that originally does not have coordinate information, it is possible to correctly display the geographic image on a geographic information system (GIS).

In a normal georeference, a plurality of (three or more points) control points (GCP) whose geographic coordinates are known are set for the geographical image. The control point is set manually by the user, for example. The geographical image in which the control point is set is geometrically corrected based on the geographical coordinates of the control point, so that the inherent distortion is corrected.

On the other hand, direct georeference is to give geographic coordinates directly to a geographic image from the conditions at the time of acquiring the geographic image. FIG. 1 is a diagram for explaining a direct georeference according to an embodiment of the present disclosure. Note that FIG. 1 illustrates a case where direct georeferencing is performed on an aerial photograph.

In the direct georeference shown in FIG. 1, the geographic coordinates of a plurality of points on the aerial photograph are obtained from the position (including height) and orientation (or attitude) of the camera at the time of shooting and the angle of view of the camera. The point from which these geographic coordinates are obtained is set as the control point. In FIG. 1, the geographic coordinates of the points P2 to P6 on the ground surface S2 corresponding to the plurality of points on the aerial photograph G2 are obtained, and the points P2 to P6 from which the geographic coordinates are obtained are set as control points.

Combined inertial navigation can be used to identify the orientation (or attitude) of the camera during shooting. Combined inertial navigation is a method of detecting the attitude, orientation, velocity, position, etc. of a moving object by combining the data of an inertial sensor (gyro / accelerometer) and the position data of GNSS. For example, in compound inertial navigation, the 3-axis angular velocity, 3-axis acceleration, and GNSS positioning information of a moving body are input, and inertial calculation, Kalman filter calculation, etc. are performed using a computer, and the posture, orientation, speed, and position result of the moving body are obtained. Is output.

For example, aerial triangulation can be used to specify the position (including height) of the camera at the time of shooting. In aerial triangulation, a series of aerial photographs and aerial photographs of adjacent courses determine the relative positional relationship between the photographs, and the positional relationship with the ground is determined based on the anti-aircraft signs shown in the aerial photographs. It is a survey that determines the absolute positional relationship of photographs, and is a technology used for creating maps using aerial photographs. For example, in aerial triangulation, the position (photo coordinate) of a virtual point (called a path point) for connecting a control point and an overlapping part of a photo is measured. Subsequently, the shooting position and shooting direction of the aerial photograph are calculated from the photographic coordinates of the control point and the pass point and the ground coordinates of the control point.

Further, kinematic positioning, which is a kind of interference positioning, can be used to specify the position (including height) of the camera at the time of shooting. In this embodiment, we propose a method to accurately identify the position of the camera at the time of shooting by using kinematic positioning.

[1-2. Interference positioning]
As described above, in the interference positioning, the path difference of the carrier wave between two points is composed of an integer part and a decimal part of the wave number of the carrier wave. Generally, the GNSS receiver can continue to observe the change in the wave number of the carrier wave, but the wave number at the start of observation is unknown. This is called bias or ambiguity. This point will be described in detail.

For example, it is assumed that two receivers for receiving a carrier wave emitted from the positioning satellite i are installed at points A and B. Further, both receivers are in operation and each counts the wave number of the carrier wave received from the positioning satellite i. However, both receivers do not have to be switched on at the same moment. That is, it is assumed that both receivers are switched on at appropriate times. At this time, it is assumed that the count value of the receiver at the point A at the time T after the switch-on of both receivers is "a real number N _A ⁱ +0.3". Here, N _A ⁱ is the unknown real composed of the integer part and a fractional part of the wave number of the outgoing carrier wave from the positioning satellite i. The count value of the receiver point B at time T is assumed to be "real N _B ⁱ +0.9 in". Here, N _B ⁱ is an unknown real number composed of an integer part and a decimal part of the wave number of the carrier wave transmitted from the positioning satellite i. Here, taking the difference between the count values of both the receiver ^{_{"(N B i +0.9) - (}} N A i +0.3) = (N B i -N A i) + 0.6 ... ( Formula A ) ”. The term "0.6" on the right side of (Equation A) corresponds to the fractional part of the wave number of the carrier wave. In this way, the fractional part of the wave number of the carrier wave can be obtained by observation. Meanwhile, terms, but minus the real from the real, by taking the difference, from the positioning satellite i at the time the carrier has been transmitted in (N _B ⁱ -N _A ⁱ⁾ on the right side of (Equation A) The common initial phase is canceled and becomes an integer, but remains uncertain. The uncertainty of this integer part is the "integer value bias" or "Ambiguity" in the path difference.

In addition, there are two types of interference positioning, static positioning and kinematic positioning. In static positioning, GNSS receivers are installed at both known and unknown points to observe the phase of the carrier wave (hereinafter, also referred to as observation data) from GNSS at the same time for a long time (for example, 1 hour or more) at all points. do. Static positioning obtains a large number of observation data by acquiring GNSS observation data for a long period of time. For example, in static positioning, the amount of observation information increases due to changes in satellite position over time (due to changes in satellite geometry, orientation, and elevation angle) due to long-term observations. Further, in static positioning, by using a large number of observation data, the factors of observation error due to the ionosphere, water vapor, etc. are averaged, and the integer value bias can be determined accurately. Therefore, static positioning can position an unknown point with high accuracy (for example, in positioning an unknown point several kilometers away, with an error of several millimeters to several centimeters).

On the other hand, in kinematic positioning, a GNSS receiver is installed at a known point (also called a reference point) as a fixed station, and the GNSS receiver mounted at an unknown point as a mobile station is moved at multiple observation points. Observe the phase of the carrier from GNSS.

In addition, there are two types of kinematic positioning: real time kinematic positioning (RTK) and post-processing kinematic positioning. The RTK determines the integer bias (the number of phases of the carrier wave from the satellite to the reference point (integer value)) at the position of the reference point which is a fixed station at the start of observation. After that, observation data is transmitted and received between the receiver of the fixed station and the receiver of the mobile station by radio or the like, and the baseline analysis is performed on the spot. On the other hand, in post-processing kinematic positioning, the observation data is brought back to the company or the like and the baseline analysis is performed later. The kinematic positioning according to the present embodiment is post-processing kinematic positioning.

In any case, kinematic positioning is susceptible to observation errors due to atmospheric fluctuations, multipath, noise radio waves, etc. because the observation time at unknown points is short. Therefore, it is generally said that the accuracy of kinematic positioning is lower than that of static positioning.

Therefore, various measures have been taken in order to improve the accuracy of kinematic positioning. For example, when solving the integer bias, there is a method of improving the positioning accuracy of an unknown point (mobile station) by selecting the optimum solution from different combinations of positioning satellites at the time of acquiring observation data. When using such a method, the larger the number of visible satellites, the better, and at least five GNSS satellites are required. In addition, observation conditions are required so that the number of GNSS satellites does not become less than 5 during positioning. If the number of GNSS satellites is less than 5, not only will kinematic positioning become impossible, but if the number of visible satellites increases thereafter, it will be necessary to re-initialize. In this way, conventional measures have been taken to improve the accuracy of kinematic positioning, but when it is difficult to improve the accuracy of kinematic positioning due to strict observation conditions of positioning satellites to improve the accuracy. was there.

[1-3. Kinematic Positioning]
Next, kinematic positioning according to the prior art will be described with reference to FIG. FIG. 2 is a diagram for explaining kinematic positioning according to the prior art. In FIG. 2, the position of the reference point whose exact position is known in advance is indicated by u ⁽¹⁾ , and _{the position of the moving body 20 at the time t n} (n = 1, 2, ..., N) is _{indicated by x (t n} ). .. In the following, _{the position x (t n} ) of the moving body 20 at _{each time t n} may be described as an observation point. Further, at the position u ⁽¹⁾ of the reference point, a GNSS receiving device that receives a carrier wave from the GNSS is installed, and receives the carrier wave while positioning is performed. Further, the mobile body 20 is equipped with a receiver that receives a carrier wave from the GNSS, and receives the carrier wave while moving.

In the kinematic positioning according to the prior art, first, the integer bias (the number of phases of the carrier wave from the satellite to the reference point (integer value)) at ^{the position u (1)} of the reference point (also referred to as the reference station) to be a fixed station N. _The process of determining A is executed. This is called initialization. In this initialization, for example, the antenna swapping method or the known point method is used to determine the integer bias ^{at the position u (1).} After that, the positioning of the mobile body 20 as the mobile station is executed. Further, the ambiguity can be determined by using the LAMDA method or the like for the result of estimating the bias as a real value.

For example, in the kinematic positioning according to the prior art shown in FIG. 2, when it is _{desired to position the position x (t n + 1 ) of the moving body 20 at the time t n + 1} , the position x of the moving body 20 from ^{the position u (1)} of the reference point. The baseline vectors V _{1 and n + 1 up} to (t _{n + 1} ) are calculated. Specifically, the integer bias _NA0 determined by initialization, the carrier phase observed at the reference point position u ⁽¹⁾ , and the carrier phase observed at the moving body 20 position x (t _{n + 1} ). Based on the above, the baseline vectors V1 _{and n + 1} ^{from the position u (1)} of the reference point to the position x (t _{n + 1} ) of the moving body 20 are calculated. The end points of the baseline vectors V1 _{and n + 1} are the positions x (t _{n + 1} ) of the moving body 20 to be positioned.

Next, the kinematic positioning according to the present embodiment will be described with reference to FIG. FIG. 3 is a diagram for explaining kinematic positioning according to the present embodiment. In FIG. 3, the positions of the two reference stations are ^{indicated by u (1)} and u ⁽²⁾ , and the position of the moving body 20 at the time t _n (n = 1, 2, ..., N) is _{indicated by x (t n} ). Here, it is assumed that a certain time t _{n + 1} is a time that is a predetermined time (for example, Δt) later than the _{previous time t n.} Further, a GNSS receiving device for receiving a carrier wave from the GNSS is installed at each position of the two reference points. Further, as in FIG. 3, the mobile body 20 is equipped with a receiver that receives a carrier wave from GNSS. Further, _{it is assumed that there is no cycle slip during the time t n} (n = 1, 2, ..., N) in FIG. Also, time t ₁ is not limited to non-starting values, and time t _N is not limited to landing. Specifically, the time t _n (n = 1, 2, ..., N) may be an arbitrary section during the flight of the moving body 20. For example, the kinematic positioning of FIG. 3 is a flight that spans several 40 minutes and can utilize the flight log for the middle 20 minutes. At this time, the time t ₁ is the start time of the middle 20 minutes, and the time t _N is the end time of the middle 20 minutes. Further, the information processing apparatus 100, the initialization, finalizing the integer ambiguity _{N C0} of an integer value in the position of the reference station ^{u (1)} bias _{N A0} and the reference station location ^{u (2).}

FIG. 3 is different from FIG. 2 in that the information processing device 100 calculates relative position information indicating a relative position (hereinafter, also referred to as a delta position) between the positions of the moving body 20 at predetermined time intervals. Specifically, the information processing apparatus 100 determines _{the time t n} (n =) based on the difference between the carrier phase observed at _{the position x (t n + 1} ) and the carrier phase observed at the position x (t _n). 1,2, ..., the position at n) x (delta position relative _{t n)} time from than the time _{t n} after the predetermined time _{t n + 1} position _{x (t n + 1) Δx} n (= x (t n + 1) -x _{(t n)) (n =} 1,2, ..., n) is calculated.

In this way, the information processing apparatus 100 calculates the relative movement distance between the two time points based on the difference in the observation data (carrier phase) between the two different times. Specifically, the information processing apparatus 100 uses TDCP (time difference carrier phase) to calculate the relative movement distance between points at two time points. In general, if the receiver is continuously capturing the carrier phase, that is, if no cycle slip has occurred, the two-time travel vector will take the TDCP from the two-time carrier phase measurement. Known to be used (References: Weidong Ding, Jinling Wang, “Precise Velocity Optimization with a Stand-Alone GPS Receiver”, Journal of Navigation, (UK), Volume 64, Issue 2, 2011, pp . 311-325). In this calculation, the relative vector of the position at two relative times can be calculated without determining the ambiguity of the carrier phase. Since the calculation is performed only from the carrier phase, the accuracy is higher than when a normal pseudo distance or Doppler speed is used.

For example, in the kinematic positioning according to the present embodiment shown in FIG. 3, when it is _{desired to position the position x (t n + 1} ) of the moving body 20 at _{time t n + 1} , the information processing apparatus 100 has a delta at _{time t 1} to time t _n. The positions Δx _{1 to Δx n} are calculated. Subsequently, when the information processing apparatus 100 _{calculates the delta positions Δx 1 to Δx n} , for example, the position u ⁽¹⁾ of the reference point, the initial position x (t ₁ ) of the moving body 20, and the position x of the moving body 20 ( A connection network consisting of _{t n + 1) is generated.} Subsequently, when the information processing apparatus 100 generates the connection network, the information processing apparatus 100 performs the three-dimensional network average calculation for the generated connection network to perform the initial position x (t ₁ ) of the moving body 20 and the position x (t) of the moving body 20. _{n + 1} ) is calculated. In this way, the information processing apparatus 100 calculates the initial position x (t ₁ ) of the moving body 20 and the position x (t _{n + 1} ) of the moving body 20 with high accuracy by the three-dimensional network average calculation using the delta position. be able to. _{Similarly, in the information processing apparatus 100, the positions x (t 1} ) to _{x (t n} ) of the moving body 20 at each time from _{time t 1} to time t _{n are} calculated by the three-dimensional network average calculation using the delta position. Can be calculated with high accuracy.

Subsequently, the information processing apparatus 100 calculates the Float solution of the bias in the observation of the reference point and the moving body at each time, and determines an integer value based on this. Specifically, the information processing apparatus 100, the calculated position _{x (t k) (k =} 1,2, ..., n + 1) on the basis of the position of the moving body 20 from the position of the reference point ^{u (1)} x ⁽ t _k) baseline vector _V a to, k (k = 1,2, ... , n + 1) is calculated. Subsequently, the information processing apparatus 100, Float solutions of the integer bias _{N A} between the baseline vector _{V A,} based on _k, the position x _{(t k)} of the position ^{u (1)} and the mobile 20 of the reference point Is calculated. For example, the information processing apparatus 100, the position of the reference point ^{u (1),} the time _{t 1} ~ time _{t n + 1} each position _x of the movable body 20 up to _{(t 1) ~x (t n} + 1) to the baseline vector _{V A} of _, 1 _{~V a,} based on the _{n + 1,} the Float solutions of the integer bias _{n a} between the position _{x (t 1) ~x (t} n + 1) position ^{u (1)} and the mobile 20 of the reference point calculate. Alternatively, the information processing apparatus 100 selects an arbitrary number of positions of the moving bodies 20 from the positions x (t _{1 ) to x (t n + 1 ) of the moving bodies 20 from the time t 1} to the time t _{n + 1.} , The position u ⁽¹⁾ of the reference point and the arbitrary number of moving bodies 20 based on the baseline vector from the position u ⁽¹⁾ of the reference point to each position of the selected arbitrary number of moving bodies 20. calculating a Float solutions of the integer bias _{N a} between. Ideally, all of these Float solutions have the same bias value.

Subsequently, the information processing apparatus 100, based on the calculated Float solutions of the integer bias _{N A,} calculates the Int solutions of the integer bias _{N A.} Further, the information processing apparatus 100, from Int solution of the calculated integer bias N _A, by subtracting the integer ambiguities N _A0 was determined by the initialization, the mobile from the integer ambiguity (satellite at the position of the moving body 20 20 position x _{(t k)} to the number of phases of the carrier _{(integer)) n k (k = 1,2} , ..., n + 1) is calculated.

In this way, the information processing apparatus 100 can calculate the baseline vectors _{VA, k} (k = 1, 2, ..., N + 1) with high accuracy _{by the three-dimensional network average calculation, so that the baseline vectors VA, k} it can be calculated Float solutions of the integer bias N _a high precision based on. Further, the information processing apparatus 100, it is possible to calculate the Float solutions of the integer bias N _A high precision, can be calculated Int solutions of the integer bias N _A high precision. Further, the information processing apparatus 100, it is possible to calculate the Int solutions of the integer bias N _A high precision, can be calculated Int solutions of the integer bias N _k with high accuracy.

Similarly, the information processing apparatus 100 has a three-dimensional connection network including ^{the position u (2)} of another reference point, the initial position x (t ₁ ) of the moving body 20, and the position x (t _{n + 1) of the moving body 20.} By performing the net average calculation, the initial position x (t ₁ ) of the moving body 20 and the position x (t _{n + 1} ) of the moving body 20 can be calculated with high accuracy. Subsequently, the information processing apparatus 100, the calculated position _{x (t k) (k =} 1,2, ..., n + 1) on the basis of the position x _{(t k} of the mobile 20 from the position of the reference point ^{u (2)} The baseline vectors VC _{, k} (k = 1, 2, ..., N + 1) up to) can be calculated with high accuracy. Subsequently, the information processing apparatus 100, baseline vector _{V C,} based on _k, Float solutions of the integer bias _{N C} between the position of the reference point ^{u (2)} position x _{(t k)} of the moving body 20 and Can be calculated with high accuracy. Subsequently, the information processing apparatus 100, based on the calculated Float solutions of the integer bias _{N C,} can be calculated Int solutions of the integer bias _{N C} with high accuracy. Further, the information processing apparatus 100, it is possible to calculate the Int solutions of the integer bias N _C with high accuracy by subtracting the integer ambiguities N _C0 was determined by the initialization from Int solutions of the integer bias N _C , The Int solution of integer bias N _k can be calculated with high accuracy.

Thus, the information processing apparatus 100, the position _x of the one mobile 20 (t k) (k = 1,2, ..., n + 1) for, at the position of the moving body 20 between a plurality of reference stations Since the integer value bias N _k (k = 1, 2, ..., N + 1) can be calculated, the calculation of the integer value bias can be made redundant. Further, the information processing apparatus 100 can perform verification of integer bias between as shown in FIG. 12 to be described later, the position of a plurality reference stations and one mobile 20 x (t _k). Therefore, the information processing apparatus 100 can robustly verify and correct the Int solution of the integer bias. Further, even if a cycle slip occurs at a certain reference station, the information processing apparatus 100 _{can continue the integer value bias Nk} at the position of the moving body 20 with another reference station, so that the information processing apparatus 100 can be adjusted. The Int solution of numerical bias can be maintained. That is, the information processing device 100 can improve the accuracy of interference positioning.

[2. One Embodiment]
[2-1. Information processing system configuration]
Next, the configuration of the information processing system according to the present embodiment will be described with reference to FIG. FIG. 4 is a diagram showing a configuration example of an information processing system according to the present embodiment. As shown in FIG. 4, the information processing system 1 according to the present embodiment includes an information processing device 10, a mobile device 20 (also referred to as a mobile 20), a GNSS receiving device 30, and an information providing device 40. The information processing system 1 may include an external information processing device such as a terminal device used by the system administrator. These various devices are connected so as to be communicable by wire or wirelessly via a network N (for example, the Internet). The information processing system 1 shown in FIG. 4 includes an arbitrary number of information processing devices 10, an arbitrary number of mobile devices 20, an arbitrary number of GNSS receiving devices 30, and an arbitrary number of information providing devices 40. May be included.

Further, the information processing device 10, the mobile device 20, and the GNSS receiving device 30 may each include an antenna and a communication circuit, and may wirelessly communicate with each other. For example, the information processing device 10, the mobile device 20, and the GNSS receiving device 30 are Wi-Fi (registered trademark), ZigBee (registered trademark), Bluetooth (registered trademark), Bluetooth Low Energy (registered trademark), and ANT (registered trademark). Wireless communication with each other may be performed using communication by (trademark), ANT + (registered trademark), EnOcean Alliance (registered trademark), or the like.

The information processing device 10 is an information processing device that positions the position of the mobile device 20 by post-processing kinematic positioning using three-dimensional network average calculation. Specifically, the information processing device 10 calculates relative position information indicating a relative position between the positions of the mobile device 20 for each predetermined time based on the observation data of the mobile device 20 for each predetermined time. Further, the information processing device 10 calculates reference point position information indicating the position of the GNSS receiving device 30 based on the observation data of the GNSS receiving device 30. Subsequently, the information processing device 10 is subjected to a three-dimensional network average calculation using relative position information indicating the relative position between the positions of the moving body device 20 and reference point position information indicating the position of the GNSS receiving device 30 at predetermined time intervals. , Calculate the moving body position information regarding the position of the moving body device 20. In the following, positioning the position of the mobile device 20 may be paraphrased as calculating the position of the mobile device 20.

The mobile device 20 (hereinafter, also referred to as a mobile 20) is an unmanned aerial vehicle (UAV) such as a drone. The mobile device 20 corresponds to a mobile station in kinematic positioning. The mobile device 20 includes various sensors for detecting the current position of the own machine. The mobile device 20 includes, for example, a GNSS receiver that receives a GNSS signal from a GNSS satellite. The GNSS receiver included in the mobile device 20 receives a carrier wave from a positioning satellite. The mobile device 20 transmits the received carrier wave information to the information processing device 10 in response to the request of the information processing device 10.

In addition, the mobile device 20 includes a camera that photographs the ground surface. The camera included in the mobile device 20 photographs the ground surface of the surveying site at predetermined time intervals. The mobile device 20 transmits the captured image to the information processing device 10 in response to the request of the information processing device 10.

In addition, the mobile device 20 includes a state sensor that detects the state of its own device. The state sensor may include, for example, a gyro sensor, an acceleration sensor, an inertial measurement unit (IMU), an ambient information detection sensor, and the like. In addition, the surrounding information detection sensor can detect an object such as an obstacle around the moving body 20. The ambient information detection sensor is composed of, for example, an ultrasonic sensor, a radar, a LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging), a sonar, or the like.

The GNSS receiving device 30 is a device that receives a carrier wave from a positioning satellite. The GNSS receiver 30 is installed at a reference point at the surveying site. When the GNSS receiving device 30 receives a carrier wave from the positioning satellite, the GNSS receiving device 30 transmits the information of the received carrier wave to the information processing device 10. The GNSS receiving device 30 corresponds to a reference station (fixed station) in kinematic positioning.

Further, in the following, when a plurality of GNSS receiving devices 30 are described separately, the GNSS receiving device 30 will be described as GNSS receiving devices 30-1, 30-2 and the like. Further, in the following, when the GNSS receiving devices 30-1 and 30-2 and the like will be described without particular distinction, they will be referred to as the GNSS receiving device 30.

The information providing device 40 is a server device that provides an electronic reference point data providing service or a correction information providing service. The information providing device 40 transmits electronic reference point data or correction information to the information processing device 10 in response to a request from the information processing device 10.

[2-2. Information processing overview]
Next, an outline of information processing according to the present embodiment will be described with reference to FIG. FIG. 5 is a diagram showing an example of information processing according to the present embodiment. In the example shown in FIG. 5, the information processing device 10 acquires the GNSS observation data received by the GNSS receiving device 30-1 from the GNSS receiving device 30-1. Further, the information processing device 10 acquires the GNSS observation data received by the GNSS receiving device 30-2 from the GNSS receiving device 30-2. Although not shown, the number of GNSS receiving devices 30 may be three or more. Subsequently, the information processing device 10 creates a network connecting the positions of the plurality of GNSS receiving devices 30. Subsequently, the information processing device 10 calculates the three-dimensional network average using the observation data acquired from each of the plurality of GNSS receiving devices 30, and calculates the position of each of the plurality of GNSS receiving devices 30. For example, the information processing device 10 calculates the position of the GNSS receiving device 30-1 as the position u ⁽¹⁾ of the reference station. Further, the information processing device 10 calculates the position of the GNSS receiving device 30-2 as the position u ⁽²⁾ of the reference station.

Further, the information processing apparatus 10, the mobile 20 obtains the GNSS observation data received at each observation point from the mobile 20 at each time t _n. Here, each time t _n (n = 1, 2, ..., N) corresponds to the shooting time at which the ground surface was photographed by the camera of the moving body 20. In addition, each observation point corresponds to a position where the ground surface is photographed by the camera of the moving body 20. The information processing device 10 calculates _{the relative positions (delta positions) Δx 1 to Δx n} between the positions of the moving body 20 at predetermined time intervals based on the GNSS observation data received by the moving body 20 at each observation point. Thus, the information processing apparatus 10, by calculating a delta position Δx ₁ ~Δx _n, can be calculated the amount of change in position of the moving body 20 camera _{(Δx 1 + ··· + Δx n} ).

Further, the information processing apparatus 10 includes the calculated positions u ⁽¹⁾ and u ^{(2) of} each of the plurality of reference stations, the amount of change in the position of the camera of the moving body 20 (Δx ₁ + ... + Δx _n ), and The moving body position information regarding the camera position of the moving body 20 is calculated by the three-dimensional network average calculation for the network consisting of the camera position of the moving body 20 to be obtained. For example, the information processing device 10 calculates the position information of the camera of the moving body 20. Subsequently, the information processing device 10 calculates the FLOAT solution of the integer value bias at the position of the camera of the moving body 20 based on the calculated position information of the camera of the moving body 20. Subsequently, the information processing apparatus 10 calculates the FIX solution using the FLOAT solution of the integer bias. Subsequently, the information processing apparatus 10 calculates the Int solution of the integer value bias at the position of the camera of the moving body 20 by calculating the FIX solution.

[2-3. Information processing device configuration]
Next, the configuration of the information processing apparatus according to the present embodiment will be described with reference to FIG. FIG. 6 is a diagram showing a configuration example of the information processing device according to the present embodiment. As shown in FIG. 6, the information processing apparatus 10 according to the present embodiment includes a transmission / reception unit 11, a control unit 12, a network communication unit 13, a storage unit 14, a display unit (also referred to as an output unit) 15, an operation unit 16, and an operation unit 16. It is equipped with a bus 17.

(Transmission / reception unit 11)
The transmission / reception unit 11 includes an antenna and a communication circuit, and wirelessly communicates with an external information processing device such as a mobile device 20 or a GNSS receiver 30. For example, the transmission / reception unit 11 may use Wi-Fi (registered trademark), ZigBee (registered trademark), Bluetooth (registered trademark), Bluetooth Low Energy (registered trademark), ANT (registered trademark), ANT + (registered trademark), or EnOcean Alliance. Wireless communication is performed with the mobile device 20 and the GNSS receiving device 30 by using communication by (registered trademark) or the like.

In addition, the transmission / reception unit 11 transmits a distribution request for observation data by the mobile device 20 (hereinafter, also referred to as observation data of the mobile device 20) to the mobile device 20. The transmission / reception unit 11 receives observation data from the mobile device 20. When the transmission / reception unit 11 receives the observation data of the mobile device 20, the transmission / reception unit 11 outputs the received observation data of the mobile device 20 to the GNSS signal processing unit 121.

Further, the transmission / reception unit 11 transmits a distribution request of observation data by the GNSS receiving device 30 (hereinafter, also referred to as observation data of the GNSS receiving device 30) to the GNSS receiving device 30. The transmission / reception unit 11 receives the observation data from the GNSS receiving device 30. When the transmission / reception unit 11 receives the observation data of the GNSS receiving device 30, the transmission / reception unit 11 outputs the received observation data of the GNSS receiving device 30 to the GNSS signal processing unit 121.

Further, the transmission / reception unit 11 transmits a distribution request for GNSS correction information to the information providing device 40 via a predetermined network. The transmission / reception unit 11 receives the GNSS correction information from the information providing device 40 via a predetermined network. When the transmission / reception unit 11 receives the GNSS correction information, the transmission / reception unit 11 stores the received GNSS correction information in the storage unit 14. Further, the transmission / reception unit 11 may transmit a distribution request for observation data of the electronic reference point to the information providing device 40 via a predetermined network. When the transmission / reception unit 11 receives the observation data of the electronic reference point, the transmission / reception unit 11 outputs the received observation data of the electronic reference point to the GNSS signal processing unit 121.

(Control unit 12)
In the control unit 12, various programs (corresponding to an example of the information processing program) stored in the storage device inside the information processing device 10 by the CPU (Central Processing Unit), MPU (Micro Processing Unit), etc. use the RAM as a work area. It is realized by executing as. Further, the control unit 12 is realized by, for example, an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

As shown in FIG. 6, the control unit 12 includes a GNSS signal processing unit 121, a calculation unit 122, and a generation unit 123, and realizes or executes the information processing operation described below. The internal configuration of the control unit 12 is not limited to the configuration shown in FIG. 6, and may be another configuration as long as it is a configuration for performing information processing described later.

(GNSS signal processing unit 121)
The GNSS signal processing unit 121 acquires observation data from the transmission / reception unit 11. When the GNSS signal processing unit 121 acquires the observation data, the GNSS signal processing unit 121 converts the acquired observation data into data of the observation time and the carrier phase. When the GNSS signal processing unit 121 converts the observation data into the observation time and carrier phase data, the GNSS signal processing unit 121 stores the observation time and carrier phase data in the storage unit 14.

Further, the GNSS signal processing unit 121 receives the observation data of the mobile device 20 from the transmission / reception unit 11. When the GNSS signal processing unit 121 acquires the observation data of the mobile device 20, the GNSS signal processing unit 121 converts the observation data of the mobile device 20 into data of the observation time and the carrier phase.

Further, the GNSS signal processing unit 121 receives the observation data of the GNSS receiving device 30 from the transmitting / receiving unit 11. When the GNSS signal processing unit 121 acquires the observation data of the GNSS receiving device 30, the GNSS signal processing unit 121 converts the observation data of the GNSS receiving device 30 into data of the observation time and the carrier phase.

The GNSS signal processing unit 121 may receive the observation data of the electronic reference point from the transmission / reception unit 11. When the GNSS signal processing unit 121 acquires the observation data of the electronic reference point, the GNSS signal processing unit 121 converts the observation data of the electronic reference point into data of the observation time and the carrier phase.

(Calculation unit 122)
The calculation unit 122 calculates the reference point position information indicating the position of the GNSS receiving device 30 by the three-dimensional network average calculation. Specifically, the calculation unit 122 refers to the storage unit 14 and acquires the data of the carrier wave phase observed at each position of the plurality of reference stations. Subsequently, the calculation unit 122 generates a network connecting the positions of the plurality of reference stations. Subsequently, the calculation unit 122 performs a three-dimensional network average calculation on the generated network based on the carrier wave phase data observed at the positions of the plurality of reference stations, thereby indicating the position of each of the GNSS receiving devices 30. Calculate point position information.

In addition, the calculation unit 122 calculates the position of the mobile device 20 by post-processing kinematic positioning. Specifically, the calculation unit 122 refers to the storage unit 14 and acquires the data of the carrier wave phase observed at each observation point at predetermined time intervals. Subsequently, the calculation unit 122 calculates the relative position information indicating the relative position between the positions of the moving body 20 at each predetermined time based on the data of the carrier wave phase observed at each observation point at each predetermined time. Specifically, the calculation unit 122 describes _{the carrier phase observed at the position x (t n + 1} ) by the receiver of the moving body 20 and the carrier phase observed at the position x (t _n ) by the receiver of the moving body 20. based on a difference between the time _{t n (n = 1,2, ...} , n) with respect to the position in x _{(t n)} time from than the time _{t n} after the predetermined time _{t n + 1} position x _{(t n + 1)} The delta position Δx _n (= x (t _{n + 1} ) -x (t _n )) (n = 1, 2, ..., N) is calculated. Calculator 122 calculates a delta position Δx ₁ ~Δx _n at time _{t 1} ~ time _{t n.}

In this way, the calculation unit 122 indicates the relative position between the positions of the moving body at each predetermined time based on the difference in the carrier phase of the carrier wave received by the receiver (receiver of the moving body 20) at predetermined time. Relative position information (Δx _n = x (t _{n + 1} ) -x (t _n )) is calculated.

Further, when the calculation unit 122 calculates the delta positions Δx _{1 to Δx n} , for example, the position u ⁽¹⁾ of the reference point, the initial position x (t ₁ ) of the moving body 20, and the position x (t _{n + 1) of the moving body 20} ) To generate a connection network. Subsequently, when the calculation unit 122 generates the connection network, the calculation unit 122 performs a three-dimensional network average calculation on the generated connection network to perform the initial position x (t ₁ ) of the moving body 20 and the position x (t _{n + 1) of the moving body 20.} ) Is calculated.

_{In this way, the calculation unit 122 includes relative position information (Δx n} (n = 1, 2, ..., N)) indicating the relative position between the positions of the moving body at predetermined time intervals, and a reference indicating the position of the reference point. _{The moving body position information (x (t 1} ), x (t _{n + 1} )) regarding the position of the moving body is calculated by the three-dimensional network average calculation using the point position information (u ^(1)). _{Similarly, the calculation unit 122 calculates the position x (t 1} ) to _{x (t n + 1} ) of the moving body 20 at each time from _{time t 1} to time t _{n + 1} by the three-dimensional network average calculation using the delta position. calculate.

Further, the calculation unit 122 is a three-dimensional network average for a connection network including ^{the position u (2)} of another reference point, the initial position x (t ₁ ) of the moving body 20, and the position x (t _{n + 1) of the moving body 20.} By performing the calculation, the initial position x (t ₁ ) of the moving body 20 and the position x (t _{n + 1} ) of the moving body 20 are calculated. Alternatively, the calculation unit 122 sets the position u ⁽¹⁾ of the reference point, the position u ⁽²⁾ of another reference point, the initial position x (t ₁ ) of the moving body 20, and the position x (t _{n + 1} ) of the moving body 20. _{The initial position x (t 1} ) of the moving body 20 and the position x (t _{n + 1} ) of the moving body 20 may be calculated by performing the three-dimensional network averaging calculation for the connecting network consisting of the moving body 20.

In this way, the calculation unit 122 performs the moving body position information (x (t) by the three-dimensional network average calculation using the ^{reference point position information (u (1)} , u ⁽²⁾ ) indicating the positions of two or more reference points. ₁ ), x (t _{n + 1} )) are calculated. Similarly, the calculation unit 122 performs a three-dimensional network average calculation using ^{reference point position information (u (1)} , u ⁽²⁾ ) indicating the positions of two or more reference points _{, from time t 1} to time t _{n + 1. The positions x (t 1} ) to _{x (t n + 1} ) of the moving body 20 at each time of the above are calculated.

Subsequently, the calculation unit 122 calculates the Float solution of the bias in the observation of the reference point and the moving body at each time, and determines the integer value based on this. Specifically, the calculation unit 122 calculates the position _{x (t k) (k =} 1,2, ..., n + 1) on the basis of the position x (t of the moving body 20 from the position of the reference point ^{u (1)} baseline vector _V a to _{k), k (k = 1,2} , ..., n + 1) is calculated. Subsequently, calculation unit 122, baseline vector _{V A,} based on _k, the Float solutions of the integer bias _{N A} between the position x of the position ^{u (1)} and the mobile 20 of the reference point _{(t k)} calculate. For example, the calculation unit 122 has a baseline vector _VA, ^{from the position u (1)} of the reference point to each position x (t ₁ ) to _{x (t n + 1} ) of the moving body 20 from the time t ₁ to the time t _{n + 1. 1} ~V _a, based on the _{n + 1,} calculates a Float solutions of the integer bias _{n a} between the position _{x (t 1) ~x (t} n + 1) position ^{u (1)} and the mobile 20 of the reference point do. Alternatively, the calculation unit 122 selects an arbitrary number of positions of the moving body 20 from each position x (t _{1 ) to x (t n + 1} ) of the moving body 20 from _{the time t 1} to the time t _{n + 1.} Between the position u ⁽¹⁾ of the reference point and the arbitrary number of mobiles 20 based on the baseline vector from the position u ⁽¹⁾ of the reference point to each position of the selected arbitrary number of mobiles 20. to the calculated Float solutions of the integer bias _{N a.} Ideally, all of these Float solutions have the same bias value. Subsequently, calculation unit 122, based on the calculated Float solutions of the integer bias _{N A,} calculates the Int solutions of the integer bias _{N A.} Further, calculation unit 122, from Int solution of the calculated integer bias N _A, by subtracting the integer ambiguities N _A0 was determined by the initialization, the mobile 20 from the integer ambiguity (satellite at the position of the moving body 20 position x _{(t k)} to the number of phases of the carrier _{(integer)) n k (k = 1,2} , ..., n + 1) is calculated.

Similarly, calculation unit 122, the calculated position _{x (t k) (k =} 1,2, ..., n + 1) on the basis of the position x (t of the moving body 20 from the position of the other reference point ^{u (2)} _{The baseline vectors VC, k} (k = 1, 2, ..., N + 1) up to _k ) (k = 1, 2, ..., N + 1) are calculated. Subsequently, calculation unit 122, baseline vector _{V C,} based on _k, the Float solutions of the integer bias _{N C} between the position of the reference point ^{u (2)} position x _{(t k)} of the moving body 20 and calculate. Subsequently, calculation unit 122, a Float solution of the calculated integer bias _{N C,} by subtracting the integer ambiguities _{N C0} was determined by the initialization, the integer ambiguity _N k at the location of the mobile 20 (k = Calculate the Float solution of 1, 2, ..., N + 1). Further, the calculation unit 122 calculates the Int solution of the _{integer value bias N k.}

Thus, calculation unit 122, the position of the reference point ^{(u (1), u (} 2)) and the integer ambiguity _(N A, N _C) mobile is a Float solution of between the position of the moving body Calculate the position information. Further, calculation unit 122, the integer ambiguity _(N A, N _C) based on Float solutions of, calculates the vehicle location information is Int solutions of the integer bias.

Further, the calculation unit 122 checks the bias of the INT solution of the integer value bias. The bias check processing of the INT solution by the calculation unit 122 will be described with reference to FIGS. 12 and 13 described later.

In addition, the calculation unit 122 calculates the direction (or attitude) of the camera at the time of shooting by using the combined inertial navigation system. Specifically, the calculation unit 122 calculates the posture, orientation, velocity, position, etc. of the moving body by combining the data of the inertial sensor (gyro / accelerometer) and the position data of the GNSS. For example, the calculation unit 122 inputs the three-axis angular velocity, three-axis acceleration, and GNSS positioning information of the moving body, performs inertial calculation, Kalman filter calculation, and the like using a computer, and performs the attitude, direction, speed, and position result of the moving body. Is output.

(Generator 123)
Generation unit 123 performs direct georeference. Specifically, the generation unit 123 superimposes a plurality of images taken by the camera while aligning them based on the moving body position information calculated by the calculation unit 122. For example, the generation unit 123 calculates the geographic coordinates of a plurality of points on the aerial photograph from the position (including height) and orientation (or posture) of the camera at the time of shooting and the angle of view of the camera. Subsequently, the generation unit 123 sets a point at which the geographic coordinates are obtained as a control point for the plurality of superimposed images.

In addition, the generation unit 123 generates an ortho image and three-dimensional point cloud data. In addition, the generation unit 123 generates content that displays information about the survey result.

(Network Communication Unit 13)
The network communication unit 13 wirelessly communicates with an external information processing device such as the mobile device 20, the GNSS receiving device 30, and the information providing device 40 via the network N. The network communication unit 13 is realized by, for example, a NIC (Network Interface Card), an antenna, or the like. The network N may be a public communication network such as the Internet, a satellite communication network, or a telephone line network, and is a communication network provided in a limited area such as a LAN (Local Area Network) or a WAN (Wide Area Network). It may be. The network N may be wired. In that case, the network communication unit 13 performs wired communication with an external information processing device.

(Memory unit 14)
The storage unit 14 is realized by, for example, a semiconductor memory element such as a RAM (Random Access Memory) or a flash memory (Flash Memory), or a storage device such as a hard disk or an optical disk. Various programs, setting data, and the like are stored in the storage unit 14. For example, the storage unit 14 stores the observation data received by the GNSS signal processing unit 121. For example, the storage unit 14 stores the observation data converted into the RINEX format in association with the identification number that identifies the device of the transmission source.

(Display unit 15)
The display unit 15 is a display device that displays various information under the control of the control unit 12. For example, the display unit 15 is a liquid crystal display (LCD) or an organic EL display (Organic Electro-Luminescent Display). For example, the display unit 15 displays the information generated by the generation unit 123.

(Operation unit 16)
The operation unit 16 is an input device that receives various operations from the user. The operation unit 16 has, for example, a button for inputting characters, numbers, and the like. When the display unit 15 is a touch panel type display, a part of the display unit 15 functions as an operation unit 16.

(Bus 17)
The bus 17 connects each part of the information processing device 10.

[2-4. Configuration of mobile device]
Next, the configuration of the mobile device according to the present embodiment will be described with reference to FIG. 7. FIG. 7 is a diagram showing a configuration example of the mobile device according to the present embodiment. As shown in FIG. 7, the mobile device 20 according to the present embodiment includes a sensor unit 21, a transmission / reception unit 22, a control unit 23, a network communication unit 24, a storage unit 25, a drive unit 26, and a bus 27.

(Sensor unit 21)
The sensor unit 21 has a function of sensing information used for processing in the control unit 12. The sensor unit 21 may include various sensor devices. For example, the sensor unit 21 may include an outside world sensor, an inside world sensor, a camera, a microphone (hereinafter referred to as a microphone), and an optical sensor. The sensor unit 21 performs sensing using the above-mentioned sensor. Then, the sensor unit 21 outputs the sensing information acquired by the various sensors to the control unit 12.

The sensor unit 21 uses the outside world sensor and the inside world sensor to acquire information used by the control unit 23 to estimate the self-position of the mobile device 20. The outside world sensor is a device that senses information outside the mobile device 20. For example, the external sensor may include a camera, a distance measuring sensor, a depth sensor, a GNSS sensor, a magnetic sensor, a communication device, and the like. The internal sensor is a device that senses information inside the mobile device 20. For example, the internal sensor may include an accelerometer, a gyro sensor, an encoder, and the like.

The distance measuring sensor is, for example, a device that acquires distance information such as a ToF (Time of Flight) sensor. The depth sensor is, for example, an infrared ranging device, an ultrasonic ranging device, a LiDAR (Laser Imaging Detection and Ranking), a stereo camera, or the like to acquire depth information. The sensor unit 21 can acquire distance information to an object in the vicinity of the mobile device 20 by the distance measuring sensor or the depth sensor.

The GNSS sensor is a device that measures position information including the latitude, longitude, and altitude of the mobile device 20 by receiving a GNSS signal from a GNSS satellite. The sensor unit 21 can acquire the position information of the mobile device 20 by the GNSS sensor. A magnetic sensor is a device that measures the magnitude and direction of a magnetic field. The sensor unit 21 can acquire information on the magnetic field at the position of the mobile device 20 by the magnetic sensor.

(GNSS receiver 211)
The GNSS receiver 211 is a receiver that receives a carrier wave from a positioning satellite. The GNSS receiver 211 receives the GNSS signal (also referred to as observation data) of the positioning satellite. When the GNSS receiver 211 receives the observation data, it converts the received observation data into the RINEX format. When the GNSS receiver 211 converts the observation data into the RINEX format, the GNSS receiver 211 stores the observation data converted into the RINEX format in the GNSS signal storage unit 251.

(IMU212)
In the IMU212, the acceleration sensor is a device that acquires the acceleration of an object. For example, the acceleration sensor measures acceleration, which is the amount of change in speed when the moving body device 20 moves. A gyro sensor is a device having a function of acquiring the angular velocity of an object. For example, the gyro sensor measures the angular velocity, which is the amount of change in the posture of the mobile device 20. An encoder is a device that acquires the rotation angle of an object. The encoder is provided on, for example, a wheel or a joint of the moving body device 20 and measures a rotation angle which is an amount of change in an angle when the wheel or the joint rotates. The information acquired by the accelerometer, the gyro sensor, and the encoder is also referred to as "inertia information" below. The sensor unit 21 can acquire inertial information of the moving body device 20 by the acceleration sensor, the gyro sensor, and the encoder.

(Camera 213)
The camera 213 is an image pickup device that includes a lens system such as an RGN camera, a drive system, and an image pickup device, and captures an image (still image or moving image). The camera 213 may be a ToF (Time Of Flight) camera, a stereo camera, a monocular camera, an infrared camera, a Depth camera, or other cameras.

The camera 213 is provided so that the outside of the mobile device 20 can be imaged, for example, so that the periphery of the mobile device 20 can be imaged. Specifically, the camera 213 photographs the ground surface at predetermined time intervals. The sensor unit 21 can acquire a captured image of the ground surface at the surveying site by the camera 213.

(Transmission / reception unit 22)
The transmission / reception unit 22 includes an antenna and a communication circuit, and wirelessly communicates with an external information processing device such as the information processing device 10 and the GNSS receiving device 30. For example, the transmission / reception unit 22 may use Wi-Fi (registered trademark), ZigBee (registered trademark), Bluetooth (registered trademark), Bluetooth Low Energy (registered trademark), ANT (registered trademark), ANT + (registered trademark), or EnOcean Alliance. Wireless communication with the information processing device 10 and the GNSS receiving device 30 is performed using communication by (registered trademark) or the like.

Further, the transmission / reception unit 22 receives the observation data distribution request from the information processing device 10. Upon receiving the distribution request, the transmission / reception unit 22 acquires observation data from the GNSS signal storage unit 251. Subsequently, the transmission / reception unit 22 transmits the observation data to the information processing device 10.

(Control unit 23)
The control unit 23 is realized by executing various programs (corresponding to an example of an information processing program) stored in the storage device inside the mobile device 20 by the CPU, MPU, or the like using the RAM as a work area. Further, the control unit 23 is realized by, for example, an integrated circuit such as an ASIC or FPGA.

As shown in FIG. 7, the control unit 23 has an attitude control unit 231 and a movement control unit 232, and realizes or executes the information processing operation described below. The internal configuration of the control unit 23 is not limited to the configuration shown in FIG. 7, and may be another configuration as long as it is a configuration for performing information processing described later.

(Attitude control unit 231)
The attitude control unit 231 controls the attitude of the mobile device 20. Specifically, the attitude control unit 231 calculates an error between the target value of the attitude angle of the moving body device 20 and the estimated value of the attitude angle of the moving body device 20, and corrects the calculated error. Generates an instruction value for controlling the attitude angle. Subsequently, the attitude control unit 231 controls the attitude angle of the mobile device 20 based on the generated indicated value.

(Movement control unit 232)
The movement control unit 232 controls the movement and path tracking of the mobile device 20. Specifically, the drive control unit 129 controls the movement and path tracking of the mobile device 20 so as to move on a movement path preset by the user.

(Network Communication Unit 24)
The network communication unit 24 wirelessly communicates with an external information processing device such as the information processing device 10 and the GNSS receiving device 30 via the network N. The network communication unit 24 is realized by, for example, a NIC, an antenna, or the like. The network N may be a public communication network such as the Internet, satellite communication network or telephone line network, or may be a communication network provided in a limited area such as LAN or WAN. The network N may be wired. In that case, the network communication unit 24 performs wired communication with an external information processing device.

(Memory unit 25)
The storage unit 25 is realized by, for example, a semiconductor memory element such as a RAM or a flash memory, or a storage device such as a hard disk or an optical disk. Various programs, setting data, and the like are stored in the storage unit 25. Further, the storage unit 25 has a GNSS signal storage unit 251 as shown in FIG.

(GNSS signal storage unit 251)
The GNSS signal storage unit 251 stores the observation data received by the GNSS receiver 211. For example, the GNSS signal storage unit 251 stores the observation data converted into the RINEX format.

(Drive unit 26)
The drive unit 26 has a function of driving the physical configuration of the mobile device 20. The drive unit 150 has a function for moving the position of the mobile device 20. The drive unit 150 is, for example, an actuator. The drive unit 150 may have any configuration as long as the mobile device 20 can realize a desired operation. The drive unit 150 may have any configuration as long as the position of the mobile device 20 can be moved. For example, the drive unit 150 moves the mobile device 20 and changes the position of the mobile device 20 by driving the movement mechanism of the mobile device 20 in response to an instruction from the movement control unit 232.

(Bus 27)
The bus 27 connects each part of the mobile device 20.

[2-5. GNSS receiver configuration]
Next, the configuration of the GNSS receiving device according to the present embodiment will be described with reference to FIG. FIG. 8 is a diagram showing a configuration example of the GNSS receiving device according to the present embodiment. As shown in FIG. 8, the GNSS receiving device 30 according to the present embodiment includes a GNSS signal receiving unit 31, a transmitting / receiving unit 32, a control unit 33, a network communication unit 34, a storage unit 35, and a bus 36.

(GNSS signal receiving unit 31)
The GNSS signal receiving unit 31 is a receiver that receives a carrier wave from a positioning satellite. The GNSS signal receiving unit 31 receives the GNSS signal (also referred to as observation data) of the positioning satellite. When the GNSS signal receiving unit 31 receives the observation data, the GNSS signal receiving unit 31 converts the received observation data into the RINEX format. When the GNSS signal receiving unit 31 converts the observation data into the RINEX format, the GNSS signal receiving unit 31 stores the observed data converted into the RINEX format in the GNSS signal storage unit 351.

(Transmission / reception unit 32)
The transmission / reception unit 32 includes an antenna and a communication circuit, and wirelessly communicates with an external information processing device such as the information processing device 10 and the mobile device 20. For example, the transmission / reception unit 32 may use Wi-Fi (registered trademark), ZigBee (registered trademark), Bluetooth (registered trademark), Bluetooth Low Energy (registered trademark), ANT (registered trademark), ANT + (registered trademark), or EnOcean Alliance. Wireless communication with the information processing device 10 and the mobile device 20 is performed using communication by (registered trademark) or the like.

Further, the transmission / reception unit 32 receives the observation data distribution request from the information processing device 10. Upon receiving the distribution request, the transmission / reception unit 32 acquires observation data from the GNSS signal storage unit 351. Subsequently, the transmission / reception unit 32 transmits the observation data to the information processing device 10.

(Control unit 33)
The control unit 33 is realized by executing various programs (corresponding to an example of an information processing program) stored in the storage device inside the GNSS receiving device 30 by the CPU, MPU, or the like using the RAM as a work area. Further, the control unit 33 is realized by, for example, an integrated circuit such as an ASIC or FPGA.

(Network Communication Unit 34)
The network communication unit 34 wirelessly communicates with an external information processing device such as the information processing device 10 and the mobile device 20 via the network N. The network communication unit 34 is realized by, for example, a NIC, an antenna, or the like. The network N may be a public communication network such as the Internet, satellite communication network or telephone line network, or may be a communication network provided in a limited area such as LAN or WAN. The network N may be wired. In that case, the network communication unit 34 performs wired communication with an external information processing device.

(Memory unit 35)
The storage unit 35 is realized by, for example, a semiconductor memory element such as a RAM or a flash memory, or a storage device such as a hard disk or an optical disk. Various programs, setting data, and the like are stored in the storage unit 35. Further, the storage unit 35 has a GNSS signal storage unit 351 as shown in FIG.

(GNSS signal storage unit 351)
The GNSS signal storage unit 351 stores the observation data received by the GNSS reception unit 31. For example, the GNSS signal storage unit 351 stores the observation data converted into the RINEX format.

(Bus 36)
The bus 36 connects each part of the GNSS receiving device 30.

[2-6. Benchmark position information calculation process]
Next, the calculation process of the reference point position information according to the present embodiment will be described with reference to FIG. FIG. 9 is a flowchart showing an example of the calculation process of the reference point position information according to the present embodiment. In the example shown in FIG. 9, the calculation unit 122 determines the network structure between the GNSS receiving devices 30 installed at each of the plurality of reference points (step S101). Subsequently, the calculation unit 122 selects a visible satellite common to the plurality of GNSS receiving devices 30 (step S102). Subsequently, the calculation unit 122 detects a section in which carrier phase tracking is stable (cycle slip detection) (step S103). Subsequently, the calculation unit 122 calculates the FLAAT solution of the baseline vector and the integer value bias that minimizes the observation error (step S104). Subsequently, the calculation unit 122 converts the integer bias into an integer (calculates the INT solution) based on the FLOAT solution of the integer bias (step S105). Subsequently, the calculation unit 122 recalculates the baseline vector (step S106). Subsequently, the calculation unit 122 calculates the net average (step S107). Subsequently, the calculation unit 122 acquires the positions of each of the plurality of GNSS receiving devices 30 (step S108).

[2-7. Relative location information calculation process]
Next, the calculation process of the relative position information according to the present embodiment will be described with reference to FIG. FIG. 10 is a flowchart showing an example of the relative position information calculation process according to the present embodiment. In the example shown in FIG. 10, the calculation unit 122 acquires GPS data of the moving body (step S201). Subsequently, the calculation unit 122 selects satellites having two shooting times by the moving camera (step S202). Subsequently, the calculation unit 122 confirms the continuity of the carrier wave phase (detection of cycle slip) (step S203). Subsequently, the calculation unit 122 calculates the delta position between the two shooting points (step S204).

[2-8. Calculation process of moving body position information]
Next, the calculation process of the moving body position information according to the embodiment will be described with reference to FIG. FIG. 11 is a flowchart showing an example of the calculation process of the moving body position information according to the embodiment. In the example shown in FIG. 11, the calculation unit 122 determines the network structure of the photographing point, the GNSS receiving device (reference station), and the external reference point (step S301). Subsequently, the calculation unit 122 calculates the net average (step S302). Subsequently, the calculation unit 122 selects a marker (reference station) for positioning relative to each shooting time (step S303). Subsequently, the calculation unit 122 checks the bias of the INT solution (step S304). Subsequently, the calculation unit 122 calculates an INT solution with a nearby marker (reference station) at each shooting time (step S305).

Here, the verification of the integer value bias in the interference positioning will be described with reference to FIG. FIG. 12 is a diagram for explaining the check of the integer value bias in the interference positioning. In the example shown in FIG. 12, the relationship of the integer value bias solved by the relative positioning at three points is shown. As shown in FIG. 12, between the integer bias solved by the relative positioning of the three points, the relationship of _"N AC _{= N} AB _{-N CB"} is established.

Next, the calculation of the integer bias in kinematic positioning will be described with reference to FIG. FIG. 13 is a diagram for explaining the verification of the integer value bias in kinematic positioning. In the example shown in FIG. 13, the point that point C is a mobile station is different from that in FIG. As shown in FIG. 13, in the kinematic positioning, if there is no cycle slip, relationship of _"N AC _{= N} AB _{-N CB"} is established. _{However, N AC} shows the integer ambiguity between AC of solving in advance. _{Further, N AB} is an integer value bias between AB of solving the time _{t 1. Further, N CB} shows the integer ambiguity between CB of solving the time _{t 2.}

[3. effect]
As described above, the information processing apparatus 100 according to the embodiment or modification of the present disclosure includes a calculation unit 122. The calculation unit 122 performs a three-dimensional network average calculation using the relative position information indicating the relative position between the positions of the moving body for each time and the reference point position information indicating the position of the reference point, and the moving body related to the position of the moving body. Calculate location information.

As a result, the information processing apparatus 100 can calculate the position of the moving body with high accuracy by the three-dimensional network average calculation using the relative positions between the positions of the moving body for each time. Therefore, the information processing device 100 can improve the accuracy of the interference positioning.

The mobile also includes a receiver that receives a carrier wave from the positioning satellite. The calculation unit 122 calculates the relative position information based on the difference in the carrier phase of the carrier wave received by the receiver for each time of the moving body.

As a result, the information processing apparatus 100 calculates the relative position between the positions of the moving body for each time only from the carrier phase, so that the relative position can be calculated with high accuracy (for example, in millimeters).

Further, the calculation unit 122 calculates the moving body position information which is a Float solution of the integer value bias between the position of the reference point and the position of the moving body. Further, the calculation unit 122 calculates the moving body position information which is the Int solution of the integer value bias based on the Float solution of the integer value bias.

In this way, the information processing apparatus 100 can calculate the position of the moving body with high accuracy by the three-dimensional network average calculation, so that the Float solution of the integer value bias between the reference point and the position of the moving body is high. It can be calculated accurately. Further, since the information processing apparatus 100 can calculate the Float solution of the integer value bias between the reference point and the position of the moving body with high accuracy, the integer value bias between the reference point and the position of the moving body Int solution can be calculated with high accuracy. Further, since the information processing apparatus 100 can calculate the Int solution of the integer value bias between the reference point and the position of the moving body with high accuracy, the Int solution of the integer value bias at the position of the moving body is made high. It can be calculated accurately.

Further, the calculation unit 122 calculates the moving body position information by the three-dimensional network average calculation using the reference point position information indicating the positions of two or more reference points.

As a result, the information processing apparatus 100 can calculate the integer value bias at the position of the moving body with each of the plurality of reference stations for the position of one moving body, so that the calculation of the integer value bias is redundant. Can be given. Further, the information processing apparatus 100 can check the integer value bias between the plurality of reference stations and the position of one mobile body. Therefore, the information processing apparatus 100 can robustly verify and correct the Int solution of the integer bias. Further, even if a cycle slip occurs at a certain reference station, the information processing apparatus 100 can continue the integer value bias at the position of the moving body with the other reference station, so that the integer value bias can be maintained. The Int solution can be maintained. That is, the information processing device 100 can improve the accuracy of interference positioning.

Further, the moving body includes a camera for photographing the ground surface, and the camera photographs the ground surface for each time of the moving body. In addition, the information processing device 100 further includes a generation unit 123. The generation unit 123 superimposes a plurality of images taken by the camera while aligning them based on the moving body position information calculated by the calculation unit 122.

As a result, the information processing apparatus 100 can calculate the position of the moving body with high accuracy, so that direct georeference with high accuracy can be performed.

[4. Hardware configuration]
The information device such as the information processing device 100 according to the above-described embodiment and modification is realized by, for example, a computer 1000 having a configuration as shown in FIG. FIG. 14 is a hardware configuration diagram showing an example of a computer 1000 that realizes the functions of an information processing device such as the information processing device 100. Hereinafter, the information processing apparatus 100 according to the above-described embodiment or its modification will be described as an example. The computer 1000 includes a CPU 1100, a RAM 1200, a ROM (Read Only Memory) 1300, an HDD (Hard Disk Drive) 1400, a communication interface 1500, and an input / output interface 1600. Each part of the computer 1000 is connected by a bus 1050.

The CPU 1100 operates based on a program stored in the ROM 1300 or the HDD 1400, and controls each part. For example, the CPU 1100 expands the program stored in the ROM 1300 or the HDD 1400 into the RAM 1200 and executes processing corresponding to various programs.

The ROM 1300 stores a boot program such as a BIOS (Basic Input Output System) executed by the CPU 1100 when the computer 1000 is started, a program depending on the hardware of the computer 1000, and the like.

The HDD 1400 is a computer-readable recording medium that non-temporarily records a program executed by the CPU 1100, data used by the program, and the like. Specifically, the HDD 1400 is a recording medium for recording an information processing program according to an embodiment of the present disclosure, which is an example of program data 1350, or a modification thereof.

The communication interface 1500 is an interface for the computer 1000 to connect to an external network 1550 (for example, the Internet). For example, the CPU 1100 receives data from another device or transmits data generated by the CPU 1100 to another device via the communication interface 1500.

The input / output interface 1600 is an interface for connecting the input / output device 1650 and the computer 1000. For example, the CPU 1100 receives data from an input device such as a keyboard or mouse via the input / output interface 1600. Further, the CPU 1100 transmits data to an output device such as a display, a speaker, or a printer via the input / output interface 1600. Further, the input / output interface 1600 may function as a media interface for reading a program or the like recorded on a predetermined recording medium (media). The media includes, for example, an optical recording medium such as a DVD (Digital Versatile Disc) or PD (Phase change rewritable Disk), a magneto-optical recording medium such as an MO (Magneto-Optical disk), a tape medium, a magnetic recording medium, or a semiconductor memory. Is.

For example, when the computer 1000 functions as the information processing device 100 according to the above-described embodiment or its modification, the CPU 1100 of the computer 1000 executes an information processing program loaded on the RAM 1200 to control the control unit 12 and the like. Realize the function. Further, the HDD 1400 stores an information processing program according to an embodiment of the present disclosure or a modification thereof, and data in the storage unit 14. The CPU 1100 reads the program data 1350 from the HDD 1400 and executes the program, but as another example, these programs may be acquired from another device via the external network 1550.

The present technology can also have the following configurations.
(1)
The moving body position information regarding the position of the moving body is calculated by the three-dimensional network average calculation using the relative position information indicating the relative position between the positions of the moving body for each time and the reference point position information indicating the position of the reference point. Calculation unit and
Information processing device equipped with.
(2)
The mobile body comprises a receiver that receives a carrier wave from a positioning satellite.
The calculation unit
The information processing apparatus according to (1), wherein the relative position information is calculated based on the difference in carrier phase of the carrier wave received by the receiver for each time.
(3)
The calculation unit
The information processing apparatus according to (1) or (2), wherein the moving body position information is calculated by the three-dimensional network average calculation using the reference point position information indicating the positions of two or more reference points.
(4)
The calculation unit
The information processing apparatus according to any one of (1) to (3), which calculates the moving body position information which is a Float solution of an integer value bias between the position of the reference point and the position of the moving body. ..
(5)
The calculation unit
The information processing apparatus according to (4), wherein the moving body position information, which is an Int solution of the integer value bias, is calculated based on the Float solution of the integer value bias.
(6)
The moving body includes a camera that captures the ground surface.
The camera
The information processing device according to (1) above, which photographs the ground surface every time.
(7)
The information processing apparatus according to (6), further comprising a generation unit that superimposes a plurality of images taken by the camera while aligning them based on the moving body position information calculated by the calculation unit.
(8)
The moving body position information regarding the position of the moving body is calculated by the three-dimensional network average calculation using the relative position information indicating the relative position between the positions of the moving body for each time and the reference point position information indicating the position of the reference point. do,
An information processing method that executes processing.
(9)
A mobile body equipped with a receiver that receives a carrier wave from a positioning satellite and a camera that photographs the ground surface,
A benchmark with an anti-aircraft marker that has a receiving function to receive carrier waves from positioning satellites,
Moving body position information regarding the position of the moving body by a three-dimensional network average calculation using the relative position information indicating the relative position between the positions of the moving body for each time and the reference point position information indicating the position of the reference point. Information processing device that calculates
Information processing system equipped with.

1 Information processing system 10 Information processing device 11 Transmission / reception unit 12 Control unit 121 GNSS signal processing unit 122 Calculation unit 123 Generation unit 13 Network communication unit 14 Storage unit 15 Display unit 16 Operation unit 20 Mobile device 30 GNSS receiving device 40 Information providing device

Claims (9)

The moving body position information regarding the position of the moving body is calculated by the three-dimensional network average calculation using the relative position information indicating the relative position between the positions of the moving body for each time and the reference point position information indicating the position of the reference point. Calculation unit and
Information processing device equipped with. The mobile body comprises a receiver that receives a carrier wave from a positioning satellite.
The calculation unit
The information processing apparatus according to claim 1, wherein the relative position information is calculated based on the difference in carrier phase of the carrier wave received by the receiver for each time. The calculation unit
The information processing apparatus according to claim 1, wherein the moving body position information is calculated by the three-dimensional network average calculation using the reference point position information indicating the positions of two or more reference points. The calculation unit
The information processing apparatus according to claim 1, wherein the moving body position information which is a Float solution of an integer value bias between the position of the reference point and the position of the moving body is calculated. The calculation unit
The information processing apparatus according to claim 4, wherein the moving body position information, which is an Int solution of the integer value bias, is calculated based on the Float solution of the integer value bias. The moving body includes a camera that captures the ground surface.
The camera
The information processing device according to claim 1, wherein the ground surface is photographed every time. The information processing apparatus according to claim 6, further comprising a generation unit that superimposes a plurality of images taken by the camera while aligning them based on the moving body position information calculated by the calculation unit. The moving body position information regarding the position of the moving body is calculated by the three-dimensional network average calculation using the relative position information indicating the relative position between the positions of the moving body for each time and the reference point position information indicating the position of the reference point. do,
An information processing method that executes processing. A mobile body equipped with a receiver that receives a carrier wave from a positioning satellite and a camera that photographs the ground surface,
A benchmark with an anti-aircraft marker that has a receiving function to receive carrier waves from positioning satellites,
Moving body position information regarding the position of the moving body by a three-dimensional network average calculation using the relative position information indicating the relative position between the positions of the moving body for each time and the reference point position information indicating the position of the reference point. Information processing device that calculates
Information processing system equipped with.

Images