JP2022090773A - Information processing apparatus and positioning method - Google Patents

Abstract

To provide an information processing apparatus that suppresses deterioration of positioning accuracy of a mobile station.SOLUTION: An information processing apparatus in a system that performs positioning of a mobile station using correction information comprises: a positioning signal reception unit that receives a positioning signal received from a satellite by a reference station; a processor that creates reference station correction information which is the correction information corresponding to a position of the reference station on the basis of the positioning signal; and an external correction information reception unit that receives external correction information corresponding to a position of an electronic reference point near the reference station from an external correction information distribution apparatus. The processor determines which of the reference station correction information and the external correction information should be used for positioning of the mobile station on the basis of a result of comparison between the positioning signal and a predetermined reference.SELECTED DRAWING: Figure 4

Description

The present disclosure relates to an information processing apparatus and a positioning method.

For positioning using satellites, for example, there is a positioning system that enables highly accurate positioning at a mobile station by using a correction signal output from a reference station in addition to a positioning signal received from the satellite by the mobile station. The installation of the reference station may be performed by the user who uses the positioning system.

Conventionally, a GPS antenna has been proposed for capturing the direction and height of an obstacle that causes radio interference when installing a GPS surveying antenna (see, for example, Patent Document 1). Further, conventionally, even in an environment where there is a shielding structure around the GPS reference station, a GPS positioning system and a GPS positioning method capable of capturing more satellites by the GPS reference station have been proposed (see, for example, Patent Document 2).

Japanese Unexamined Patent Publication No. 10-163721 Japanese Unexamined Patent Publication No. 2009-8492

The establishment of a reference station may require specialized skills and knowledge, and it may be difficult for the user to judge whether the environment in which the reference station is installed is good or bad. Therefore, a correction signal of poor quality may be transmitted from the reference station to the mobile station, and the accuracy of positioning in the mobile station may decrease.

The non-limiting examples of the present disclosure contribute to the provision of an information processing device and a determination method capable of suppressing a decrease in the accuracy of positioning of a mobile station.

An embodiment of the present disclosure is an information processing apparatus in a system for positioning a mobile station using correction information, based on a positioning signal receiving unit that receives a positioning signal received from a satellite by a reference station and the positioning signal. External correction that receives external correction information corresponding to the position of the electronic reference point in the vicinity of the reference station from the processor that generates the reference station correction information that is the correction information corresponding to the position of the reference station and the external correction information distribution device. An information receiving unit is provided, and the processor uses the reference station correction information or the external correction information for positioning of the mobile station based on the result of comparison between the positioning signal and a predetermined reference. An information processing device that determines.

One embodiment of the present disclosure is a positioning method in a system for positioning a mobile station using correction information, in which a reference station receives a positioning signal received from a satellite and the position of the reference station is based on the positioning signal. The reference station correction information, which is the correction information corresponding to the above, is generated, and the external correction information corresponding to the position of the electronic reference point in the vicinity of the reference station is received from the external correction information distribution device, and the positioning signal and the predetermined reference are used. Based on the result of the comparison, it is determined whether the reference station correction information or the external correction information is used for the positioning of the mobile station.

It should be noted that these comprehensive or specific embodiments may be realized in a system, an apparatus, a method, an integrated circuit, a computer program, or a recording medium, and the system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium may be realized. It may be realized by any combination of.

According to one embodiment of the present disclosure, correction information (reference station correction information) generated by the reference station itself is used according to the parameters of the positioning signal received by the reference station, or correction information distributed from an external correction signal distribution device. Switch whether to use (delivery correction information). As a result, when there is a possibility that the quality of the reference station correction information is deteriorated, the distribution correction information is used for the positioning of the mobile station, so that the deterioration of the positioning accuracy of the mobile station can be suppressed.

Further advantages and effects in one embodiment of the present disclosure will be apparent from the specification and drawings. Such advantages and / or effects are provided by some embodiments and the features described in the specification and drawings, respectively, but not all need to be provided in order to obtain one or more identical features. There is no.

A diagram showing an example of a positioning system The figure explaining the operation example at the time of setting a reference station The figure which showed an example of the positioning signal strength The figure which showed an example of the positioning signal strength The figure which showed an example of the positioning system which concerns on embodiment Diagram showing an example of server hardware configuration Diagram explaining the analysis of observation data and messages when the reference station is installed A diagram explaining the quality judgment of the observation data after the installation of the reference station. Sequence diagram showing an operation example of the positioning system when the reference station is installed A flowchart showing an example of server operation after the installation of a reference station Diagram explaining the analysis of observation data and messages when the reference station is installed

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings as appropriate. However, more detailed explanation than necessary may be omitted. For example, detailed explanations of already well-known matters and duplicate explanations for substantially the same configuration may be omitted. This is to avoid unnecessary redundancy of the following description and to facilitate the understanding of those skilled in the art.

It should be noted that the accompanying drawings and the following description are provided for those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

FIG. 1 is a diagram showing an example of a positioning system 1. As shown in FIG. 1, the positioning system 1 has a reference station 2 and a mobile station 3. The reference station 2 may be referred to as a reference terminal. The mobile station 3 may be referred to as a positioning terminal.

The reference station 2 has an antenna 2a, a receiving unit 2b, and a terminal 2c. The receiving unit 2b is connected to the antenna 2a via, for example, a coaxial cable. The receiving unit 2b receives and demodulates a signal from a GNSS (Global Navigation Satellite System) satellite (not shown) via the antenna 2a. The signal from the GNSS satellite may be referred to as a positioning signal or a satellite signal.

When the reference station 2 is installed, the receiving unit 2b measures the position of the reference station 2 based on the demodulated positioning signal (positions the reference station 2). The receiving unit 2b positions the reference station 2 by using, for example, the RTK (Real Time Kinematic) method.

After the installation of the reference station 2, the receiving unit 2b generates correction information by using the position of the positioned reference station 2 and the positioning signal received from the satellite during the positioning of the mobile station 3. The correction information is used for correction of the positioning signal received by the mobile station 3.

Specifically, the correction information is generated by using the accurate position of the reference station 2 and the positioning signal received by the reference station 2. By using this information, it is estimated how much the difference in position between the mobile station 3 and the reference station 2 matches the difference between the received positioning signal and the positioning signal received by the reference station 2, and the estimation is made. By correcting the position of the mobile station 3 based on the result, a highly accurate position can be obtained.

The positioning calculation of the mobile station 3 may be performed by the mobile station 3 or may be performed by the mobile station 3 by an external device. Further, the correction information may be a calculation result of a value to be corrected, or may be a set of a positioning signal and an accurate position of a reference station on which the calculation is based. Further, the correction information may include information such as the number of satellites captured when the correction information was generated. That is, the correction information may finally include information used for correction of the positioning result (position of the mobile station 3) of the mobile station 3.

Further, in the present embodiment, the position of the reference station 2 is not based on surveying or the like, but is described as being obtained at any time by positioning using the function of the reference station 2 itself, but it is fixed at the position measured at the time of installation. Alternatively, the best position in the past positioning results may be used. The position is indicated by, for example, latitude and longitude. The position may be referred to as coordinates.

The terminal 2c is, for example, a terminal such as a tablet terminal or a smartphone. The terminal 2c is connected to the receiving unit 2b via, for example, USB (Universal Serial Bus). The terminal 2c functions as, for example, a user interface of the reference station 2.

The terminal 2c communicates with the terminal 3c of the mobile station 3. The terminal 2c transmits the correction information generated by the receiving unit 2b to the mobile station 3 by using, for example, wireless communication. A wireless communication network such as 3G, 4G, or 5G may be used for wireless communication. Further, wireless communication such as Wi-Fi (registered trademark) or Bluetooth (registered trademark) may be used for wireless communication.

The reference station 2 does not have to include the terminal 2c when the receiving unit 2b has a user interface such as a display device and an input device and also has a function of communicating with the mobile station 3.

The mobile station 3 has an antenna 3a, a receiving unit 3b, and a terminal 3c. The receiving unit 3b is connected to the antenna 3a via, for example, a coaxial cable. The receiving unit 3b receives the positioning signal from the GNSS satellite via the antenna 3a and demodulates it.

The receiving unit 3b positions the mobile station 3 using the demodulated positioning signal. For example, the receiving unit 3b positions the mobile station 3 by using the RTK method. The mobile station 3 corrects the positioning result by using the correction information transmitted from the reference station 2.

The terminal 3c is, for example, a terminal such as a tablet terminal or a smartphone. The terminal 3c is connected to the receiving unit 3b via, for example, USB. The terminal 3c functions as a user interface of the mobile station 3, for example.

The terminal 3c communicates with the terminal 2c, the terminal 3c receives the correction information transmitted from the terminal 2c, and outputs the received correction information to the receiving unit 3b.

The mobile station 3 does not have to include the terminal 3c when the receiving unit 3b has a user interface such as a display device and an input device and also has a function of communicating with the reference station 2.

FIG. 2 is a diagram illustrating an operation example when the reference station 2 is installed. The user sets up the reference station 2. The installed reference station 2 receives a positioning signal from the satellite according to the operation of the user (S1). The reference station 2 determines the coordinates of the reference station 2 based on the received positioning signal by using the RTK method (S2, S3). When the reference station 2 determines the coordinates of the reference station 2, the reference station 2 starts distribution of the correction information (S4).

As described above, the mobile station 3 corrects the positioning result by using the correction information distributed from the reference station 2. This enables the mobile station 3 to perform highly accurate positioning.

The quality of the correction information is affected by the surrounding environment and parameters of the reference station 2. For example, the correction information is affected by the surrounding environment of the reference station 2 such as shielding and multipath, and also has parameters such as the number of visible satellites, the arrangement of satellites, and the reception quality of positioning signals (for example, SNR: signal-to-noise ratio). Be affected.

3A and 3B are diagrams showing an example of positioning signal strength. FIG. 3A shows an example of the positioning signal strength in good condition. FIG. 3B shows an example of the positioning signal strength in the deteriorated state. The dotted line A1 shown in FIG. 3B shows the average value of the positioning signal strength of FIG. 3A.

The correction information is an important element related to the positioning accuracy of the mobile station 3. As described above, since the quality of the correction information is affected by the surrounding environment and parameters of the reference station 2, the positioning accuracy of the mobile station 3 is affected by the surrounding environment and parameters of the reference station 2.

Determining the quality of the surrounding environment and parameters of the reference station 2 may require specialized skills and knowledge, and it may be difficult for the user to install the reference station 2. For example, it may be difficult for the user to judge whether the surrounding environment of the installation location is good or bad. In addition, it may be difficult for the user to judge the quality of parameters such as the number of visible satellites, the arrangement of satellites, and the reception quality of positioning signals. Further, in the reference station 2, the influence of the surrounding environment and parameters of the reference station 2 may change while the correction information is being distributed. Therefore, this case provides an information processing device for a user to easily install a reference station. Further, the present invention provides an information processing device for a mobile station to perform positioning using high-quality correction information.

FIG. 4 is a diagram showing an example of the positioning system 10 according to the embodiment. As shown in FIG. 4, the positioning system 10 includes a server (information processing device) 11, a reference station 12, mobile stations 13 and 14, and an external correction information distribution server 15. The server 11 may be referred to as a positioning cloud PF (PF: platform).

The reference station 12 has a receiving unit 12a and a terminal 12b. The receiving unit 12a is connected to an antenna (not shown), for example, via a coaxial cable. The receiving unit 12a receives and demodulates a positioning signal from a GNSS satellite (not shown) via an antenna. The receiving unit 12a outputs the demodulated positioning signal to the terminal 12b. Hereinafter, the positioning signal may be referred to as observation data.

The terminal 12b is, for example, a terminal such as a tablet terminal or a smartphone. The terminal 12b is connected to the receiving unit 12a via, for example, USB. The terminal 12b functions as, for example, a user interface of the reference station 12.

The terminal 12b wirelessly communicates with the server 11. A wireless communication network such as 3G, 4G, or 5G may be used for wireless communication. The terminal 12b transmits the observation data output from the receiving unit 12a to the server 11.

The reference station 12 does not have to include the terminal 12b when the receiving unit 12a has a user interface such as a display device and an input device and also has a function of communicating with the server 11.

The mobile station 13 has a receiving unit 13a and a terminal 13b. The receiving unit 13a is connected to an antenna (not shown), for example, via a coaxial cable. The receiving unit 13a receives and demodulates a positioning signal from a GNSS satellite (not shown) via an antenna.

The receiving unit 13a positions the mobile station 13 using the demodulated positioning signal. For example, the receiving unit 13a positions the mobile station 13 by using the RTK method. The mobile station 13 corrects the positioning result by using the correction information distributed (transmitted) from the server 11.

The terminal 13b is, for example, a terminal such as a tablet terminal or a smartphone. The terminal 13b is connected to the receiving unit 13a via, for example, USB. The terminal 13b functions as, for example, a user interface of the mobile station 13.

The terminal 13b wirelessly communicates with the server 11. A wireless communication network such as 3G, 4G, or 5G may be used for wireless communication. The terminal 13b receives the correction information delivered from the server 11 and outputs the received correction information to the receiving unit 13a.

The mobile station 13 does not have to include the terminal 13b when the receiving unit 13a has a user interface such as a display device and an input device and also has a function of communicating with the server 11.

The mobile station 14 receives and demodulates a positioning signal from a GNSS satellite via an antenna (not shown).

The mobile station 14 wirelessly communicates with the server 11. A wireless communication network such as 3G, 4G, or 5G may be used for wireless communication. The mobile station 14 transmits the demodulated positioning signal (observation data) to the server 11.

The mobile station 13 receives the correction information from the server 11 and positions the mobile station 13 in the mobile station 13. Positioning by the mobile station 13 may be referred to as edge positioning.

Further, the mobile station 14 transmits the observation data to the server 11, and the server 11 positions the mobile station 14. The positioning of the mobile station 14 by the server 11 may be referred to as cloud positioning.

The external correction information distribution server 15 is a server that provides a correction information distribution service. The server 11 and the external correction information distribution server 15 are connected via a network such as the Internet.

The external correction information distribution server 15 is a server that provides a correction information distribution service. In the following, the correction information of the external correction information distribution server 15 may be referred to as external correction information.

The correction information may be referred to as a correction signal. The external correction information distribution server 15 may be referred to as a correction signal distribution device.

Here, the external correction information distribution server 15 may be a server for a correction signal distribution service operated by a government agency or a company. Further, the correction signal distributed by the external correction information distribution server 15 may be generated by using the position of the reference station investigated by the distributor and the satellite signal received by the reference station. Since various services for distributing correction signals that have been commercialized are known, detailed description thereof will be omitted.

The server 11 has a distribution unit 11a and a calculation unit 11b. The distribution unit 11a receives the external correction information from the external correction information distribution server 15. For example, the distribution unit 11a receives the external correction information at the electronic reference point near the installation position of the reference station 12 from the external correction information distribution server 15.

Here, the electronic reference point is a reference station corresponding to the external correction information in the system including the external correction information distribution server 15. However, the electronic reference point may be a reference station actually installed, or it may be a virtual reference station whose position and correction information are estimated based on the information obtained from the reference station actually installed. be. That is, the correction information distributed from the external correction information distribution server 15 is the correction information corresponding to the position of the electronic reference point.

The distribution unit 11a positions the reference station 12 based on the observation data transmitted from the reference station 12 and the external correction information of the external correction information distribution server 15. For example, the distribution unit 11a positions the reference station 12 by using the RTK method.

When the reference station 12 cannot be positioned, the distribution unit 11a analyzes the observation data of the reference station 12 and identifies the cause of the failure to position the reference station 12. The distribution unit 11a generates a message for resolving the cause of the failure to position the reference station 12, and transmits the message to the terminal 12b of the reference station 12.

When the reference station 12 can be positioned, the distribution unit 11a generates correction information in the reference station 12 based on the position of the position of the reference station 12 and the observation data of the reference station 12. Hereinafter, the correction information generated by the distribution unit 11a using the observation data of the reference station 12 may be referred to as the reference station correction information. The reference station correction information may be referred to as a reference station correction signal.

The distribution unit 11a determines the quality of the observation data of the reference station 12. When the distribution unit 11a determines that the quality of the observation data of the reference station 12 is "good", the distribution unit 11a distributes (outputs) the reference station correction information to the mobile station 13 and the calculation unit 11b. When the distribution unit 11a determines that the quality of the observation data of the reference station 12 is "No", the distribution unit 11a distributes the external correction information to the mobile station 13 and the calculation unit 11b.

The arithmetic unit 11b receives observation data from the mobile station 14. The calculation unit 11b positions the mobile station 14 based on the observation data of the mobile station 14. For example, the arithmetic unit 11b positions the mobile station 14 by using the RTK method. The reference station correction information of the reference station 12 or the external correction information of the external correction information distribution server 15 is distributed to the calculation unit 11b. The calculation unit 11b corrects the positioning result of the mobile station 14 by using the reference station correction information or the external correction information.

The calculation unit 11b may transmit the positioning result of the mobile station 14 to, for example, a server (not shown) that manages the user's position. Hereinafter, the server that manages the user's position of the mobile station 14 may be referred to as a cloud management server.

Further, the calculation unit 11b may transmit the positioning result of the mobile station 14 to the mobile station 14. In this case, the mobile station 14 may include a terminal or a user interface, and display the positioning result of the mobile station 14 transmitted from the calculation unit 11b on the terminal or the user interface.

A schematic operation example of the positioning system 10 of FIG. 4 will be described. The operation of the positioning system 10 is divided into an operation at the time of installation of the reference station 12 and an operation after the installation of the reference station 12. First, a schematic operation example when the reference station 12 is installed will be described.

The server 11 receives the observation data from the reference station 12, and starts positioning the reference station 12. If the server 11 can position the reference station 12 within a predetermined time (for example, within 1 minute), the server 11 shifts to the operation after the installation of the reference station 12.

On the other hand, if the reference station 12 cannot be positioned within a predetermined time, the server 11 analyzes the observation data of the reference station 12 and identifies the cause of the failure to position the reference station 12. The server 11 generates a message for eliminating the identified cause and sends it to the terminal 12b of the reference station 12.

The user who installs the reference station 12 changes the installation state and parameters of the reference station 12 according to, for example, a message displayed on the terminal 12b. When the server 11 can position the reference station 12 due to the installation state of the reference station 12 or the change of the parameter, the server 11 shifts to the operation after the installation of the reference station 12. As a result, the user can easily install the reference station 12.

The server 11 may not be able to position the reference station 12 even if the user changes the installation state or parameters of the reference station 12 according to the message displayed on the terminal 12b. Even if the server 11 cannot position the reference station 12 a predetermined number of times, the server 11 shifts to the operation after the reference station 12 is installed.

Next, a schematic operation example after the installation of the reference station 12 will be described. When the reference station 12 cannot be positioned in the operation when the reference station 12 is installed, the server 11 distributes the external correction information of the external correction information distribution server 15 to the mobile station 13 and the calculation unit 11b.

As a result, the mobile station 13 positions the mobile station 13 using the positioning signal received from the satellite and the external correction information of the external correction information distribution server 15. The calculation unit 11b positions the mobile station 14 by using the observation data received from the mobile station 14 and the external correction information of the external correction information distribution server 15.

When the reference station 12 can be positioned in the operation when the reference station 12 is installed, the server 11 monitors the quality of the observation data of the reference station 12 at regular intervals, for example. When the server 11 determines that the quality of the observation data is "good", the server 11 distributes the reference station correction information of the reference station 12 to the mobile station 13 and the calculation unit 11b.

As a result, the mobile station 13 positions the mobile station 13 using the positioning signal received from the satellite and the reference station correction information of the reference station 12. The calculation unit 11b positions the mobile station 14 by using the observation data received from the mobile station 14 and the reference station correction information of the reference station 12.

On the other hand, when the server 11 determines that the quality of the observation data is "No", the server 11 distributes the external correction information of the external correction information distribution server 15 to the mobile station 13 and the calculation unit 11b.

As a result, the mobile station 13 positions the mobile station 13 using the positioning signal received from the satellite and the external correction information of the external correction information distribution server 15. The calculation unit 11b positions the mobile station 14 by using the observation data received from the mobile station 14 and the external correction information of the external correction information distribution server 15.

That is, after the installation of the reference station 12, the server 11 monitors the quality of the observation data of the reference station 12, and if the quality of the observation data of the reference station 12 is "good", the reference station correction information of the reference station 12 is transmitted to the mobile station. It is delivered to 13 and the calculation unit 11b. On the other hand, if the quality of the observation data of the reference station 12 is "No", the server 11 distributes the external correction information distributed from the external correction information distribution server 15 to the mobile station 13 and the calculation unit 11b.

When the external correction information distribution server 15 uses a reference station set up by the government or the like, there may be restrictions on the types of satellites that can be used. For example, GPS, GLONASS, Galileo, QZSS, and Beidou are known as satellite types, but Beidou information cannot be used by the reference station set up by a Japanese government agency. In some cases, reference stations such as government agencies are set up only in places away from the current location of mobile stations. Therefore, positioning using the reference station 12 generally has a shorter baseline length than positioning using the external correction information distribution server 15, and since there are many types of satellites that can be used, positioning stability is excellent.

On the other hand, in the positioning using the reference station 12, stable positioning becomes difficult when the quality of the observed data deteriorates. For example, when the SNR of the correction signal is lowered or the reception is stopped, the signal is frequently deviated from the FIX or the RTK calculation cannot be performed. Therefore, in such a case, it is better to use positioning using the external correction information distribution server 15.

FIG. 5 is a diagram showing a hardware configuration example of the server 11. As shown in FIG. 5, the server 11 has a control unit 21, a communication unit 22, and a storage unit 23.

The control unit 21 controls the entire server 2. The control unit 21 may be configured by a processor such as a CPU (Central Processing Unit), for example.

The communication unit 22 communicates with the reference station 12, the mobile stations 13, 14 and the external correction information distribution server 15. The communication unit 22 may communicate with the reference station 12 and the mobile stations 13 and 14 by using wireless communication such as 3G, 4G, or 5G. Further, the communication unit 22 may communicate with the external correction information distribution server 15 by using a network such as the Internet.

The storage unit 23 stores a program for operating the control unit 21. Further, the storage unit 23 stores data for the control unit 21 to perform calculation processing, data for the control unit 21 to control each unit, and the like. The storage unit 23 may be configured by a storage device such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, and an HDD (Hard Disk Drive).

The analysis of the observation data of the reference station 12 and the message notification in the server 11 will be described.

FIG. 6 is a diagram illustrating an analysis of observation data and a message when the reference station 12 is installed. As an evaluation index for analysis of observation data at the time of installation of the reference station 12, for example, as shown in FIG. 6, there are two indexes, the number of visible satellites and the received SNR.

-Regarding the evaluation index "number of visible satellites" The evaluation index "number of visible satellites" has two criteria, for example, as shown in FIG. The server 11 analyzes the observation data of the reference station 12 based on the two criteria shown in FIG. 6 in the evaluation index “number of visible satellites”.

For example, the server 11 determines whether the satellite captured by the reference station 12 includes a satellite of a specific type (for example, a satellite of a type set by the user). If the satellites captured by the reference station 12 do not include a satellite of a specific type, the server 11 identifies that there is an error in the module (reception unit 12a) setting, generates a message prompting the module setting change, and generates a reference station. It transmits to 12 terminals 12b.

Further, the server 11 determines whether the number of satellites supplemented by the reference station 12 is equal to or less than a predetermined number with respect to the number of satellites at the electronic reference point. When the number of satellites supplemented by the reference station 12 is less than or equal to the predetermined number with respect to the number of satellites at the electronic reference point, the server 11 identifies that there is a shield above or around the reference station 12, and shields above or around the reference station 12. A message prompting confirmation of the absence of an object is generated and transmitted to the terminal 12b of the reference station 12.

The server 11 can acquire the type of satellite captured by the reference station 12 from the observation data of the reference station 12.

Further, the server 11 can acquire the number of satellites at the electronic reference point from the external correction information received from the external correction information distribution server 15. Further, the server 11 can acquire the number of satellites captured by the reference station 12 from the observation data of the reference station 12.

-Regarding the evaluation index "received SNR" The evaluation index "received SNR" has two criteria, for example, as shown in FIG. The server 11 analyzes the observation data of the reference station 12 based on the two criteria shown in FIG. 6 in the evaluation index “received SNR”.

For example, the server 11 determines whether the reference station 12 can receive the positioning signal from the satellite. When the reference station 12 cannot receive the positioning signal from the satellite, the server 11 identifies the connection failure of the module or the antenna, generates a message prompting to confirm the connection of the module or the antenna, and transmits the message to the terminal 12b of the reference station 12. ..

Further, the server 11 determines whether the average SNR for each satellite of the reference station 12 is equal to or less than the threshold value with respect to the SNR of the positioning signal at the electronic reference point. When the average SNR for each satellite of the reference station 12 is equal to or less than the threshold value with respect to the SNR of the positioning signal at the electronic reference point, the server 11 identifies that there is a shield above or around the reference station 12, and the sky above the reference station 12 or A message prompting confirmation that there is no obstruction in the vicinity is generated and transmitted to the terminal 12b of the reference station 12.

The server 11 can determine whether or not the reference station 12 has received the satellite positioning signal from the observation data of the reference station 12.

Further, the server 11 can acquire the SNR of the positioning signal at the electronic reference point from the external correction information received from the external correction information distribution server 15. Further, the server 11 can acquire the average SNR for each satellite from the observation data of the reference station 12.

In this way, the server 11 compares the criteria in each evaluation index shown in FIG. 6 with the observation data of the reference station 12, identifies the cause of the failure to position the reference station 12, and eliminates the identified cause. Generate a message. Then, the server 11 transmits the generated message to the terminal 12b of the reference station 12. As a result, the user who installs the reference station 12 can easily install the reference station 12.

The server 11 may analyze the observation data of the reference station 12 when the positioning of the reference station 12 cannot be FIXed even after the lapse of a predetermined time (for example, one minute has elapsed).

Further, when the number of times of analysis of the observation data exceeds a predetermined number of times (for example, when the number of times of analysis exceeds 3 times), the server 11 could not position the reference station 12, and the external correction information service (external correction information distribution server). A message indicating that the correction information of 15) is used may be transmitted to the terminal 12b of the reference station 12.

Next, the quality determination of the observation data and the message notification after the installation of the reference station 12 will be described.

FIG. 7 is a diagram for explaining the quality determination of the quality of the observation data after the installation of the reference station 12. As an evaluation index for determining the quality of observation data, for example, as shown in FIG. 7, there are three indexes of the number of visible satellites, the received SNR, and the signal continuity.

-Regarding the evaluation index "number of visible satellites" The evaluation index "number of visible satellites" has two criteria, for example, as shown in FIG. The server 11 determines the quality of the observation data based on the two criteria shown in FIG. 7 in the evaluation index “number of visible satellites”.

For example, the server 11 determines whether the satellites captured by the reference station 12 include a specific type of satellite. When the server 11 determines that the satellites captured by the reference station 12 include satellites of a specific type, the server 11 determines that the quality of the observation data is "good". When the server 11 determines that the satellites captured by the reference station 12 do not include the satellite of a specific type, the server 11 determines that the quality of the observation data is "No".

Further, the server 11 determines whether or not the number of satellites supplemented by the reference station 12 is equal to or less than a predetermined number with respect to the number of satellites at the electronic reference point. When the server 11 determines that the number of satellites supplemented by the reference station 12 is not equal to or less than the predetermined number with respect to the number of satellites at the electronic reference point, the server 11 determines that the quality of the observation data is "good". When the server 11 determines that the number of satellites supplemented by the reference station 12 is equal to or less than the predetermined number with respect to the number of satellites at the electronic reference point, the server 11 determines that the quality of the observation data is "No".

-Regarding the evaluation index "received SNR" The evaluation index "received SNR" has two criteria, for example, as shown in FIG. The server 11 determines the quality of the observation data of the reference station 12 based on the two criteria shown in FIG. 7 in the evaluation index “received SNR”.

For example, the server 11 determines whether or not the reference station 12 can receive the positioning signal from the satellite. When the server 11 determines that the reference station 12 has received the positioning signal from the satellite, the server 11 determines that the quality of the observation data is "good". When the server 11 determines that the reference station 12 has not received the positioning signal from the satellite, the server 11 determines that the quality of the observation data is "No".

Further, the server 11 determines whether or not the average SNR for each satellite of the reference station 12 is equal to or less than the threshold value with respect to the SNR of the positioning signal at the electronic reference point. When the server 11 determines that the average SNR for each satellite of the reference station 12 is not equal to or less than the threshold value with respect to the SNR of the positioning signal at the electronic reference point, the server 11 determines that the quality of the observation data is “good”. When the server 11 determines that the average SNR for each satellite of the reference station 12 is equal to or less than the threshold value with respect to the SNR of the positioning signal at the electronic reference point, the server 11 determines that the quality of the observation data is “No”.

-Regarding the evaluation index "signal continuity" The evaluation index "signal continuity" has one standard, for example, as shown in FIG. 7. The server 11 determines the quality of the observation data of the reference station 12 based on one criterion shown in FIG. 7 in the evaluation index “signal continuity”.

For example, the server 11 determines that the quality of the observation data is "good" when the reference station correction information of the reference station 12 delivered to the mobile station 13 and the calculation unit 11b is not stopped for a predetermined (x second) time or more. The server 11 determines that the quality of the observation data is "No" when the reference station correction information of the reference station 12 to be distributed to the mobile station 13 and the calculation unit 11b is stopped for x seconds or more. If the correction information is stopped for x seconds or more, the mobile station 13 may not be able to perform positioning by RTK.

The server 11 monitors the quality of the observation data of the reference station 12 based on each criterion of the three evaluation indexes in a fixed cycle, for example. For example, in a state where the server 11 determines that the quality of the observation data is all "good", if even one of the observation data quality is determined to be "no", the correction to be delivered to the mobile station 13 and the calculation unit 11b. The information is switched from the reference station correction information to the external correction information. Then, the server 11 generates a message indicating that the correction information has been switched to the external correction information, and transmits the message to the terminal 13b of the mobile station 13 or the cloud management server.

For example, when the server 11 determines that the quality of the observation data is "No" at least, and the quality of the observation data is all determined to be "Good", the correction is delivered to the mobile station 13 and the calculation unit 11b. The information is switched from the external correction information to the reference station correction information. Then, the server 11 generates a message indicating that the correction information has been switched to the reference station correction information, and transmits the message to the terminal 13b of the mobile station 13 or the cloud management server.

The operation of switching the correction information of the server 11 is not limited to the above. The server 11 may switch the correction information based on the number of quality "good" and the number of quality "no" of the observation data. For example, when the number of quality "good" of the observation data is larger than the number of quality "no", the server 11 may distribute the reference station correction information to the mobile station 13 and the calculation unit 11b. When the number of quality "good" of the observation data is smaller than the number of quality "no", the server 11 may distribute the external correction information to the mobile station 13 and the calculation unit 11b.

FIG. 8 is a sequence diagram showing an operation example of the positioning system 10 when the reference station 12 is installed. The user installs the reference station 12.

The reference station 12 receives, for example, an operation for positioning the reference station 12 from the user (S11). When the reference station 12 receives an operation for positioning the reference station 12 from the user, the reference station 12 transmits the observation data from the satellite to the server 11.

When the server 11 receives the observation data from the reference station 12, the server 11 starts positioning of the reference station 12 (S12).

The server 11 determines whether or not the positioning of the reference station 12 is completed (the coordinate generation of the reference station 12 is completed) within a predetermined time (for example, within 1 minute) (S13).

When the positioning of the reference station 12 is completed within the predetermined time (“YES” in S13), the server 11 starts distribution of the reference station correction information of the reference station 12 (S14). That is, the server 11 generates the reference station correction information based on the positioning result of the reference station 12 and the observation data transmitted from the reference station 12, and distributes the reference station correction information to the mobile station 13 and the calculation unit 11b.

If the positioning of the reference station 12 is not completed within the predetermined time (“NO” in S13), the server 11 determines whether or not the number of times that the reference station 12 could not be positioned exceeds the predetermined number of times (for example, 3 times). Judgment (S15).

When the number of times that the reference station 12 could not be positioned does not exceed the predetermined number of times (“NO” in S15), the server 11 analyzes the observation data of the reference station 12, generates a message based on the analysis result, and sends the reference station 12 to the reference station 12. Transmit (S16).

The reference station 12 displays the message transmitted from the server 11 (S17). The user who installs the reference station 12 operates the reference station 12 according to, for example, a message displayed on the reference station 12. The reference station 12 accepts the user's operation (S11).

In S15, when the number of times that the reference station 12 could not be positioned exceeds a predetermined number of times (“YES” in S15), the server 11 starts distribution of the external correction information of the external correction information distribution server 15 (S18). That is, the server 11 determines that good correction information cannot be obtained from the observation data of the reference station 12, and starts distribution of the external correction information of the external correction information distribution server 15.

When the server 11 starts the distribution of the external correction information of the external correction information distribution server 15, the server 11 transmits a message indicating that the external correction information is used to the reference station 12 (S19).

The reference station 12 displays a message indicating that the external correction information is used (S20). As a result, the user can recognize that the external correction information distributed from the external correction information distribution server 15 is used for the positioning of the mobile stations 13 and 14, instead of the reference station correction information of the reference station 12 installed by the user.

FIG. 9 is a flowchart showing an operation example of the server 11 after the installation of the reference station 12. The server 11 determines whether or not the quality of the observation data received from the reference station 12 is “No” (NG) at regular intervals (S21).

When the server 11 determines that the quality of the observation data received from the reference station 12 is not "No" ("NO" in S21), the server 11 transfers the reference station correction information generated based on the observation data of the reference station 12 to the mobile station 13 and the calculation unit. Delivered to 11b (S24).

When the server 11 determines that the quality of the observation data received from the reference station 12 is "No" ("YES" in S21), the server 11 transfers the external correction information received from the external correction information distribution server 15 to the mobile station 13 and the calculation unit. Delivered to 11b (S22).

The server 11 determines whether or not the quality of the observation data received from the reference station 12 is “good” (OK) at regular intervals (S23).

When the server 11 determines that the quality of the observation data received from the reference station 12 is not "good" ("NO" in S23), the server 11 transfers the external correction information received from the external correction information distribution server 15 to the mobile station 13 and the calculation unit 11b. Delivered to (S22).

When the server 11 determines that the quality of the observation data received from the reference station 12 is "good" ("YES" in S23), the server 11 calculates the reference station correction information generated based on the observation data of the reference station 12 with the mobile station 13. It is delivered to the unit 11b (S24).

When the distribution of the reference station correction information and the external correction information is switched, the server 11 generates a message indicating that the correction information has been switched and transmits the message to the mobile station 13 and the cloud management server.

As described above, the server 11 receives, for example, the observation data received from the satellite by the reference station 12 when the user installs the reference station 12. The server 11 receives the external correction information at the electronic reference point in the vicinity of the reference station 12 from the external correction information distribution server 15. The server 11 positions the reference station 12 based on the observation data and the external correction information. Then, when the reference station 12 cannot be positioned, the server 11 compares the observation data of the reference station 12 with a predetermined reference, identifies the cause of the failure to position the reference station 12, and eliminates the cause. Is transmitted to the reference station 12.

As a result, the user can easily install the reference station 12 according to the message, for example, when the reference station 12 cannot be positioned. In addition, since positioning is performed using external correction information when the reference station 12 is installed, it is possible to easily obtain the accurate position of the reference station 12 required for generating the reference station correction information after installation without performing advanced surveying. Can be done.

Further, the server 11 receives, for example, the observation data received from the satellite by the reference station 12 after the installation of the reference station 12. The server 11 evaluates the quality by comparing the observation data with a predetermined reference, and also receives the external correction information corresponding to the position of the electronic reference point in the vicinity of the reference station 12 from the external correction information distribution server 15. Then, in the positioning of the mobile station 13, the server 11 uses the reference station correction information generated by the reference station 12 itself if the quality of the observation data is good, and uses the external correction information if the quality of the observation data is poor. ..

As a result, when there is a possibility that the quality of the reference station correction information is deteriorated due to poor reception of the positioning signal (observation data), the external correction information is used for the positioning of the mobile station 13, so that the positioning quality of the mobile station 13 is stable. Can be made to. That is, it can be ensured that the quality of the correction information used for the positioning of the mobile station 13 is higher than that of the external correction information. Further, since the server 11 uses the external correction information when the reference station 12 is installed, it has a function of receiving the external correction information from the time of its installation. Therefore, the positioning of the mobile station 13 can be performed using the external correction information without adding a special configuration to the server 11 or the reference station 12.

(Modification 1)
The analysis and message of the observation data at the time of setting the reference station 12 is not limited to the example of FIG.

FIG. 10 is a diagram illustrating an analysis of observation data and a message when the reference station 12 is installed. The server 11 may analyze the observation data of the reference station 12 based on the index and the reference shown in FIG. Then, the server 11 may identify the cause of the failure to position the reference station 12, generate a message for eliminating the cause, and send the message to the mobile station 13.

(Modification 2)
When the server 11 has a positioning signal whose SNR is lower than a predetermined value with respect to the SNR of the positioning signal of the electronic reference point among the positioning signals of the satellite captured by the reference station 12, the server 11 masks the positioning signal whose SNR is lower than the predetermined value. You may. As a result, the server 11 can improve the quality of the reference station correction information.

Further, when the number of satellites changes suddenly, it takes time to reconverge the RTK operation, and the quality of the reference station correction information may deteriorate. Therefore, when the reference station 12 captures more satellites than a predetermined number (for example, 30), the server 11 masks the positioning signals in the order of the lowest SNR among the captured satellite positioning signals, and the number of satellites to be supplemented. May be adjusted to be a predetermined number. That is, the server 11 may suppress fluctuations in the number of satellites captured by the reference station 12. As a result, the server 11 can improve the quality of the reference station correction information.

(Modification 3)
The server 11 may store the information (cause) when the reference station 12 cannot be positioned at the time of installation of the reference station 12 in the storage unit 23 together with the identification information of the reference station 12. For example, the server 11 may send a warning message to the mobile station 13 the next time the reference station 12 is used when the same reference station 12 cannot perform positioning a plurality of times over a long period of time.

In this case, the content of the warning message may be a notification from the reference station 12 that the quality of the correction signal may have deteriorated, or a confirmation as to whether or not to continue using the reference station 12.

Further, if the same reference station 12 cannot perform positioning a plurality of times over a long period of time, a warning message may be sent to the cloud management server or the administrator of the reference station 12. In this case, the content of the warning message may be a notification that an abnormality has occurred in the reference station 12.

A warning message to the administrator of the cloud management server or the reference station 12 may be transmitted at any time. Specifically, immediately after the conditions for transmitting the warning message are met, the timing at which the reference station 12 is used, the timing of maintenance of the reference station 12, and the like can be considered.

Further, the server 11 may not deliver the reference station correction information of the reference station 12 that could not be positioned a plurality of times over a long period of time, but may deliver the external correction information.

The condition for transmitting the warning message is not limited to the case where positioning cannot be performed multiple times for a long period of time. For example, a warning message may be transmitted when the number of times that positioning cannot be performed exceeds a predetermined threshold value without considering the period.

Further, the server 11 may store the information (cause) when the quality of the observation data is determined to be “No” after the installation of the reference station 12 in the storage unit 23 together with the identification information of the reference station 12. For example, when the same reference station 12 determines "No" a plurality of times over a long period of time, the server 11 may send a warning message to the mobile station 13, the cloud management server, or the administrator of the reference station 13. The content of the warning message and the timing of transmission may be the same as those described above. Further, the server 11 may distribute the external correction information without distributing the reference station correction information of the reference station 12 that has determined "No" a plurality of times over a long period of time.

The condition for transmitting the warning message is not limited to the case where "No" is determined multiple times for a long period of time. For example, a warning message may be transmitted when the number of times of determining "No" exceeds a predetermined threshold value without considering the period.

In the above-described embodiment, when the reference station correction information is not used for the positioning of the mobile station 13 but the external correction information is used, that fact may be notified at the same time. This is because the user of the mobile station 13 expects that the reference station correction information of the reference station 12 is received, and that the accuracy corresponding to the reference station reception information and the positioning result according to the satellite type can be obtained.

In the above-described embodiment, RTK, which is a kind of interference positioning method, has been described as an example of a positioning method using correction information, but other positioning methods using correction information from a device corresponding to a reference station may be used. It may be applied. Specifically, it can be applied to an interference positioning method other than RTK, D-GPS, and the like. The content of the correction information may differ depending on the positioning method, but if the correction information uses the satellite signal received by the reference station, it is necessary to ensure the reception quality of the satellite signal in order to perform accurate positioning. Is common. Therefore, by applying the configuration of the above-described embodiment, the reference station can be easily installed even in these positioning methods, and the quality of positioning after the installation of the reference station can be stabilized.

In the above-described embodiment, the notation "... part" used for each component is "... circuitry", "... assembly", "... device", "...". -It may be replaced with another notation such as "unit" or "... module".

Although the embodiments have been described above with reference to the drawings, the present disclosure is not limited to such examples. It is clear that one of ordinary skill in the art can come up with various modifications or modifications within the scope of the claims. It is understood that such modifications or modifications are also within the technical scope of the present disclosure. In addition, each component in the embodiment may be arbitrarily combined as long as it does not deviate from the gist of the present disclosure.

The present disclosure can be realized by software, hardware, or software linked with hardware. Each functional block used in the description of the above embodiment is partially or wholly realized as an LSI which is an integrated circuit, and each process described in the above embodiment is partially or wholly. It may be controlled by one LSI or a combination of LSIs. The LSI may be composed of individual chips, or may be composed of one chip so as to include a part or all of functional blocks. The LSI may include data input and output. LSIs may be referred to as ICs, system LSIs, super LSIs, and ultra LSIs depending on the degree of integration.

The method of making an integrated circuit is not limited to LSI, and may be realized by a dedicated circuit, a general-purpose processor, or a dedicated processor. Further, an FPGA (Field Programmable Gate Array) that can be programmed after the LSI is manufactured, or a reconfigurable processor that can reconfigure the connection and setting of the circuit cells inside the LSI may be used. The present disclosure may be realized as digital processing or analog processing.

Furthermore, if an integrated circuit technology that replaces an LSI appears due to advances in semiconductor technology or another technology derived from it, it is naturally possible to integrate functional blocks using that technology. The application of biotechnology may be possible.

The present disclosure is useful for positioning systems that calculate position using signals from satellites.

1,10 Positioning system 2,12 Reference station 3,13,14 Mobile station 2a, 3a Antenna 2b, 3b, 12a, 13a Reception unit 2c, 3c, 12b, 13b Terminal 11 Server 11a Distribution unit 11b Calculation unit 15 External correction information distribution server

Claims (10)

An information processing device in a system that positions mobile stations using correction information.
A positioning signal receiver that receives the positioning signal received by the reference station from the satellite, and
A processor that generates reference station correction information, which is correction information corresponding to the position of the reference station, based on the positioning signal.
An external correction information receiving unit that receives external correction information corresponding to the position of an electronic reference point in the vicinity of the reference station from the external correction information distribution device.
Equipped with
The processor determines whether to use the reference station correction information or the external correction information for the positioning of the mobile station based on the result of comparison between the positioning signal and a predetermined reference.
Information processing equipment. When the processor determines that the external correction information is used for the positioning of the mobile station, the processor sends a warning message to the mobile station.
The information processing apparatus according to claim 1. The number of satellite types that the processor can use to generate the reference station correction information is greater than the number of satellite types that the external correction information distribution device can use to generate the external correction information.
The information processing apparatus according to claim 1 or 2. The position of the reference station used to generate the reference station correction information is a position determined based on the positioning signal and the external correction information.
The information processing apparatus according to claim 1. The processor
If the reference station cannot be positioned when the reference station is installed, the positioning signal is compared with the reference to identify the cause of the failure to position the reference station, and a message for eliminating the cause is sent to the reference station. Send,
The information processing apparatus according to claim 4. The reference includes whether or not the reference station receives a positioning signal of a specific type of satellite.
The information processing apparatus according to any one of claims 1 to 5. The reference is whether or not the number of satellites supplemented by the reference station acquired from the positioning signal is less than or equal to the number of satellites captured by the electronic reference point acquired from the external correction information. included,
The information processing apparatus according to any one of claims 1 to 6. The reference includes whether or not the reference station has received the positioning signal.
The information processing apparatus according to any one of claims 1 to 7. The reference includes whether or not the reception quality of the positioning signal is equal to or less than the threshold value with respect to the reception quality of the positioning signal at the electronic reference point acquired from the external correction information.
The information processing apparatus according to any one of claims 1 to 8.
Correction information It is a positioning method in a system that positions a mobile station using correction information.
The reference station receives the positioning signal received from the satellite and receives the positioning signal.
Based on the positioning signal, the reference station correction information, which is the correction information corresponding to the position of the reference station, is generated.
The external correction information corresponding to the position of the electronic reference point in the vicinity of the reference station is received from the external correction information distribution device, and the external correction information is received.
Based on the result of comparison between the positioning signal and a predetermined reference, it is determined whether to use the reference station correction information or the external correction information for the positioning of the mobile station.
Positioning method.

Images