JP2022167438A - Position search method - Google Patents

Abstract

To provide a position search method capable of positioning a facility spot with high accuracy, moving to the facility spot and identifying the facility spot in a short time.SOLUTION: A method includes a registration step for a desired spot, and a search step. In the registration step, in a case of registering the desired spot in advance by RTK positioning of performing relative positioning between two spots and searching for this registration spot to identify it, a registration method is selected according to a predetermined flow according to a receiving environment of correction information from an electronic reference point 6 used for the RTK positioning and a receiving state of a GNSS signal, as a first registration method when the desired spot is located in a receiving area of the correction information of the electronic reference point 6 and the GNSS signal can be received, a second registration method when the desired spot is located in the receiving area of the correction information and the GNSS signal cannot be received, and a third registration method when the desired spot is located in an area where the correction information cannot be received and the GNSS signal can be received. In the search step, searching is performed according to the registration method for the registration spot.SELECTED DRAWING: Figure 1

Description

The present invention relates to a position search method for registering a desired point in advance using RTK positioning, which performs relative positioning between two points, and searching for and identifying the registered point.

Conventionally, a car navigation system or the like is known as a device that receives signals from a GNSS (Global Navigation Satellite System) and performs positioning. The positioning error in this GNSS is about several meters (meters), which is a practical error level for use in a car navigation system or the like.

On the other hand, in surveying and the like, highly accurate positioning is required, and a positioning error of about several cm (centimeters) is required. Therefore, positioning techniques such as DGPS (Differential GPS) and RTK (Real Time Kinematic) are used.

Positioning using quasi-zenith satellites has also started, and positioning accuracy is improving even in mountainous and urban areas due to an increase in the number of receivable satellites. By using the RTK service using the L6 band by the quasi-zenith satellite "MICHIBIKI", it is possible to secure even higher-precision positioning.

In recent years, applications and services that require centimeter-level high-precision positional information are not limited to surveying; It is spreading to the grasping of the position information of the vehicle and the automatic driving of unmanned vehicles.

Patent Literature 1 discloses a patrol monitoring navigation device used for patrol monitoring of underground buried objects such as water pipes and gas pipes. According to Patent Document 1, a patrol monitoring navigation device includes current position detection means for detecting a current position, map data acquisition means for acquiring map data, display means for displaying map data as a map screen, and underground It comprises a portable storage medium storing information about objects, and control means for superimposing and displaying information about buried objects read from the portable storage medium on a map screen displayed on a display means.

As a result, ordinary navigation devices display only roads and facilities that can be seen on the ground, but the navigation device of Patent Document 1 can also display information on underground buried objects that cannot be seen on the ground. etc., the underground buried objects can be confirmed on the map screen.

In addition, Patent Document 2 discloses a communication system that collectively transmits information on the position, time, and current status of a construction target for the purpose of correcting discrepancies between the position of a target to be searched and a database. there is

JP-A-2004-279172 Japanese Patent No. 4113523

2. Description of the Related Art In recent years, there has been an increasing need to grasp location information of facilities in public infrastructure. For example, when reading water and gas meters and inspecting equipment, it takes time to find the installation location because the equipment is often buried underground and is small. is doing. Furthermore, if there is dirt or weeds on the equipment, it becomes even more difficult to find. In addition, even ground equipment is buried in snow in heavy snowfall areas, making it difficult to identify the location of the equipment.

In addition, when confirming the position of an underground buried facility, if the positioning error in identifying the location of the facility is large, the area to be excavated expands, and a lot of labor and time is wasted. In addition, if the positioning error is large, there is a problem that construction equipment may come into contact with other equipment during excavation.

For example, the patrol monitoring navigation device disclosed in Patent Document 1 can approach the vicinity of underground buried objects using a car navigation device, but depending on the accuracy of the navigation system, it may take time to check the underground buried objects. .

That is, although the use of GNSS and RTK services that enable positioning outdoors is required, the use of GNSS alone results in poor positioning accuracy.

In addition, equipment that uses the L6 band, which is capable of high-precision positioning for MICHIBIKI, is expensive and large. .

In addition, RTK services in mobile communication services can be expected to provide highly accurate positioning, but because they inevitably require a connection environment to the Internet, they cannot be used outside the service area of mobile networks, such as mountainous areas and tunnels.

In addition, when using a positioning device for location information overseas, etc., it cannot be used because the above-mentioned services are not provided.

For this reason, applications and services that require location information of public infrastructure require prompt movement to facility points and identification of facility points in a short period of time. Furthermore, high positioning accuracy is required for specifying the facility point.

Therefore, according to the present invention, according to the reception status of GNSS signals inside and outside the mobile network area where correction data from the electronic reference point used for RTK positioning can be received, a desired point registration process is performed by following a predetermined flow. To provide a location search method capable of easily selecting a location, easily performing a search according to a registration process of a registered location, and furthermore capable of positioning a desired location with high accuracy. for the purpose.

In order to achieve the above object, a position search method according to the present invention is a position search method using RTK positioning that performs relative positioning between two points by registering a desired point in advance and searching for and identifying the registered point. a step of registering the desired point and a step of searching for the registered point. When the correction information using the absolute position information is located in an area where the GNSS signal can be stably received, RTK positioning between the mobile station installed at the desired point and the electronic reference point The position information of the desired point is calculated and registered, and as a second registration method, the desired point is located in an area where the correction information can be received and the GNSS signal cannot be stably received. In this case, a mobile station installed in an area around the desired point and capable of stably receiving GNSS signals is used as a second registration method reference point, and the second registration method reference point and the electronic reference point are set. Measure the second registration method reference point by RTK positioning, actually measure the relative position from the second registration method reference point to the desired point, calculate and register the position information of the desired point As a third registration method, when the desired point is located in an area where the correction information cannot be received and the GNSS signal can be stably received, when searching for the desired point A third registration method reference point is a mark that also exists, a reference station is installed at the third registration method reference point, a mobile station is installed at the desired point, and a relationship between the reference station and the mobile station is established. between, by RTK positioning, the relative positions of the reference station and the mobile station are measured, the relative position information of the mobile station from the landmark is registered, and as the search step, the search step includes The search for the desired point is performed by moving the mobile station to a point registered as the position information of the desired point by RTK positioning of the mobile station and the electronic reference point, and searching for the desired point. The search for the desired point according to the registration method of 2 is performed by moving the mobile station to the second registration method reference point by RTK positioning of the mobile station and the electronic reference point, and moving the mobile station to the second registration method reference point. to the desired point to search for the desired point, and the search for the desired point according to the third registration method is performed by installing a reference station at the mark and moving station, between the reference station and the mobile station, by RTK positioning, A search for the desired point is performed using the relative position information between the reference station and the mobile station.

Further, in the position search method according to the present invention, in the search for the desired point according to the first registration method, the mobile station has a display unit capable of displaying the current position of the mobile station on a map, The unit can also display the registered desired point on the map, and the user of the position search method can display the current location of the mobile station on the map so that the display of the desired point matches. A search for the desired point is made possible by moving the mobile station.

Further, in the position search method according to the present invention, in the search for the desired point according to the second registration method, the mobile station has a display unit capable of displaying the current position of the mobile station on a map, The unit can also display the second registration method reference point and the registered desired point on the map, and the user of the position search method can display the current location of the mobile station on the map. identifying the second registration method reference point by moving the mobile station so as to match the indication of the second registration method reference point, and moving the mobile station from the second registration method reference point to the desired point; It is characterized in that it is possible to search for the desired point using the relative position.

Further, in the position search method according to the present invention, in searching for the desired point according to the third registration method, the mobile station can display the position of the mark and the registered desired point on a map. A display unit is provided, and the display unit matches the reference station with the mark displayed on the map and displays the mobile station using the relative position information between the reference station and the mobile station. The current position can be displayed on a map, and the user of the position search method moves the mobile station so that the display of the current position of the mobile station matches the display of the registered desired point on the map. is characterized in that it is possible to search for the desired point.

Further, in the position search method according to the present invention, a buried object and/or a buried object exists at the desired point, and the position search method includes registering and searching for the position of the buried object and/or the buried object. It is characterized by being used for

According to the present invention, a desired point is registered in advance, and when searching and identifying this registered point, the desired point is first registered. In this case, correction data from the electronic reference point used for RTK positioning Since the registration method can be easily selected according to the predetermined flow according to the reception environment and the reception status of the GNSS signal, it is possible to easily cope with the position grasping of more public infrastructure facilities.

In addition, since the type of search method in the search process is determined according to the type of registration method in the registration process, it is possible to easily select not only the registration method but also the search method according to a predetermined flow. is possible, and it is possible to easily cope with the position grasping of more public infrastructure equipment and the like.

In this case, RTK positioning can perform relative positioning between two points with high accuracy. A desired point can be easily registered in advance with accuracy, and the registered point can be easily searched and identified.

In this case, the desired point is located in an area where the correction information from the electronic reference point used for RTK positioning arranged around can be received, and if the GNSS signal can be stably received, the desired The position information of the desired point is calculated and registered by RTK positioning of the mobile station installed at the point and the electronic reference point, and the mobile station is used as the position information of the desired point by RTK positioning of the mobile station and the electronic reference point It is possible to easily search for a desired point by moving to a registered point. As a result, by using the correction data of the electronic control points from the mobile network and the GNSS signal, it is possible to easily register and search for the desired point with high accuracy.

In addition, if the desired point is located in an area where correction information from the electronic reference point used for RTK positioning can be received and the GNSS signal cannot be received stably, the GNSS signal around the desired point is stabilized. Using a mobile station installed in an area where it can be received as a second registration method reference point by RTK positioning, the second registration method reference point is positioned, and the relative position from the second registration method reference point to a desired point is calculated. By actually measuring and registering the position information of the desired point, it becomes possible to perform a search using the relative position from the second registration method reference point to the desired point. Thereby, even when a desired point cannot receive a GNSS signal stably, it is possible to easily register and search for the desired point.

In addition, if the desired point is located in an area where correction information from the electronic reference point cannot be received and the GNSS signal can be stably received, the same A mark such as a traffic signal that is permanently present at the point of is set as the third registration method reference point, a reference station is installed at the third registration method reference point, a mobile station is installed at a desired point, and RTK positioning is performed to determine the mark By using the relative positions of the reference station and the mobile station provided in the mobile station, the position information of the desired point can be easily registered. Therefore, RTK positioning makes it possible to easily search for a desired point using the relative positions of the reference station and the mobile station.

As a result, even if the desired point is located in an area where it is impossible to receive correction information from the electronic reference point in a mobile network area such as a mountainous area, the RTK signal can be transmitted between the reference station provided as a mark and the mobile station. By positioning, the position of the target facility can be determined with high accuracy based on the relative positions of the reference station and the mobile station, and the desired point can be easily searched for in a short time. For this reason, it is possible to reduce unnecessary work, equipment, and personnel because search work over a wide area, which is required when positioning errors are large, is not required.

Further, according to the position search method of the present invention, by registering the positions of buried objects and buried objects at desired points, the positions of buried objects buried in snow or covered with grass can be easily found. It is possible to explore.

1 is a block diagram showing the configuration of a position information registration and search system using RTK positioning for implementing a first registration method for registering a desired point in the position search method and a search for the registered point; FIG. 2 is a flow chart showing a first registration method in a registration process by the location information registration and search system shown in FIG. 1; FIG. 10 is a diagram showing a display example of facility points displayed on a map in the registration process according to the first registration method; 2 is a flowchart of a search process for searching for a registered point corresponding to a first registration method by the location information registration and search system shown in FIG. 1; FIG. 10 is a diagram showing a display example of facility points displayed on a map in a search process corresponding to the first registration method; FIG. 2 is a block diagram showing the configuration of a second registration method for registering a desired point in the position search method and the configuration of a position information registration and search system using RTK positioning for executing a search for the registered point; FIG. 7 is a flow chart showing a second registration method in a registration process by the location information registration search system shown in FIG. 6. FIG. FIG. 11 is a diagram showing a display example of facility points displayed on a map in the registration process according to the second registration method; FIG. 7 is a flowchart of a search process for searching for a registered point corresponding to a second registration method by the position information registration and search system shown in FIG. 6; FIG. FIG. 10 is a diagram showing a display example of facility points displayed on a map in a search process corresponding to the second registration method; FIG. 11 is a block diagram showing the configuration of a third registration method for registering a desired point in the position search method and the configuration of a position information registration search system using RTK positioning for executing a search for the registered point; 12 is a flow chart showing a third registration method in the registration process by the location information registration and search system shown in FIG. 11; FIG. 11 is a diagram showing a display example of facility points displayed on a map in the registration process according to the third registration method; 12 is a flowchart of a search process for searching for a registered point corresponding to a third registration method by the location information registration and search system shown in FIG. 11; FIG. 11 is a diagram showing a display example of facility points displayed on a map in a search process corresponding to the third registration method;

Embodiments for carrying out the position search method according to the present invention will be described below with reference to the drawings. In addition, according to the reception state of the GNSS signal in the RTK positioning and the reception state of the correction data from the electronic reference point used in the RTK positioning, the present invention easily selects the registration method and moves the mobile station to the desired position. This is a position search method for registering position information about a point and facilitating a search for a desired point by RTK positioning according to the selected registration method. In this case, RTK positioning can perform relative positioning between two points with high accuracy. A desired point can be easily registered in advance with accuracy, and the registered point can be easily searched and specified.

The position search method of the present invention utilizes RTK positioning that performs relative positioning between two points, and includes a registration step of registering a desired point such as a buried object, a buried object, etc., and a registered point of the buried object, buried object, etc. It consists of a search step for searching. An object buried artificially is defined as a buried object, and an object buried as a result of snow, sand, or the like is defined as a buried object.

The registration step in the position search method according to the present invention includes a first registration method and a second registration method according to the reception state of correction data from the electronic reference point used for RTK positioning and the reception state of the GNSS signal in RTK positioning. and a third registration method are possible, and the search step searches for registration points corresponding to each of the first registration method, the second registration method, and the third registration method.

[First registration method and its position search method]
First, a position information registration and search system using a first registration method for a desired point and a position search method for searching for the registered point will be described with reference to FIGS. 1 to 5. FIG.

FIG. 1 is a block diagram showing the configuration of a first registration method for registering a desired point in the position search method and a position information registration search system using RTK positioning for searching for the registered point. FIG. 2 is a flowchart showing the first registration method in the registration process by the location information registration search system shown in FIG. It is a figure which shows. FIG. 4 is a flowchart for searching for registered points corresponding to the first registration method by the location information registration search system shown in FIG. 1, and FIG. 5 is displayed on a map in the search process corresponding to the first registration method. It is a figure which shows the example of a display of an installation point.

As shown in FIG. 1, the position information registration and search system 1 registers and searches for the position of a facility 64, which is a desired point, and has a GNSS 3, an electronic reference station 5, a mobile station 10, and a display terminal 20. ing.

The GNSS 3 in the position information registration and search system 1 is a satellite positioning system such as QZSS (Quasi-Zenith Satellite System) or GPS, and radio signals for positioning are transmitted from satellites. Quasi-zenith satellites such as "MICHIBIKI" can be used as satellites in GNSS3.

The electronic reference station 5 in the location information registration and search system 1 is fixedly installed on the ground, receives positioning radio signals from the satellites of the GNSS 3, and uses the received radio signals to locate the position information and a predetermined electronic reference station. 5 is calculated as correction data, and the absolute position information of the electronic reference station 5 and the calculated correction data are transmitted to the mobile station 10 via the mobile network 4 .

The electronic reference station 5 in the location information registration and search system 1 is fixedly installed on the ground, receives positioning radio signals from the satellites of the GNSS 3, and uses the received radio signals to locate the position information and a predetermined electronic reference station. 5 can be calculated as an error in the electronic reference station 5 and transmitted together with the absolute position information of the electronic reference station 5 . Around the electronic reference station 5 (peripheral area), since the positioning error appears similar to that of the electronic reference station 5, the positioning error in the mobile station 10 located around the electronic reference station 5 is calculated using the error in the electronic reference station 5. can be modified by

In this case, the absolute position information of the electronic reference station 5 and the calculated error in the electronic reference station 5 are defined as correction data. Send correction data.

Further, in the present invention, when one point in relative positioning between two points of RTK positioning is the electronic reference station 5, in addition to the position information measured by the radio signal received from the satellite of GNSS 3, the reference at the electronic reference station 5 The absolute position information of the electronic reference station 5 is required for correcting the positioning error for the absolute position information. Since this absolute position information of the electronic reference station 5 is different from the RTK positioning when the electronic reference station 5 is not used, in this case, "correction information using the absolute position information of the electronic reference point" and "correction information" It is defined as information for correcting positioning errors using the absolute position information of the electronic reference station 5, and is not limited to the absolute position information itself of the electronic reference station 5, but the electronic position information calculated using the absolute position information of the electronic reference station 5 The case of positioning errors in the reference station 5 is also included. Therefore, in the present invention, correction information is a concept included in correction data.

The electronic reference station 5 constitutes the electronic reference point 6 of the present invention, the electronic reference station 5 functions as the electronic reference point 6 , and the electronic reference station 5 includes the electronic reference point 6 . In the following description, the electronic reference station 5 will be used. The electronic reference station 5 is installed by the Geospatial Information Authority of Japan or a telecommunications carrier, and provides correction data (correction information) to the mobile station 10 via a mobile network 4 such as LTE (Long Term Evolution) of the telecommunications carrier. ing.

The mobile station 10 in the location information registration and search system 1 includes a receiving antenna 14 that receives radio signals for positioning from GNSS 3 satellites, a GNSS receiver 11 that calculates position data from the signal received by the receiving antenna 14, and a communication service. An antenna 15 for receiving radio signals from an electronic reference station 5 installed on the ground via a mobile network 4 of a person or the like, a communication device 13 for receiving correction data from the electronic reference station 5 received by the antenna 15, and GNSS reception. and an RTK calculation unit 12 for calculating the position data from the device 11 and the correction data from the communication device 13 and outputting the corrected position data.

The corrected position data output from the RTK calculation unit 12 of the mobile station 10 is corrected position information of the mobile station 10 obtained by RTK positioning between the mobile station 10 and the electronic reference station 5 .

As shown in FIG. 1, the display terminal 20 in the location information registration and search system 1 is connected to the mobile station 10 by wire or wirelessly and moves together with the mobile station 10. A control processing unit 22 that performs processing using the corrected position data from the It has an operation unit 25 for performing an input operation. The control processing unit 22 incorporates a CPU and executes programs stored in the memory unit 29 to perform various processes.

The control processing unit 22 includes a location registration processing unit 26 that performs registration processing according to the first to third registration methods, and an installation point 65 (see FIG. 5) corresponding to the first to third registration methods. ) and a condition setting processing unit 28 for setting various conditions for guidance and display.

Also, the control processing unit 22 controls each unit of the map data unit 21 , the display unit 23 and the operation unit 25 . The control processing unit 22 outputs the map data from the map data unit 21 to the display unit 23, and controls to display the registered points of the equipment 64, the current position of the mobile station 10, etc. on the map. The display unit 23 displays a map on a display screen such as a liquid crystal display, and displays registered points, the current position of the mobile station 10, and the like on the map.

The memory unit 29 stores a program for processing of the control processing unit 22, various data in the registration process of the first registration method to the third registration method, the search process, condition setting data, and the like.

The display terminal 20 is connected to a GIS (Geographic Information System) server to obtain map data corresponding to the corrected position data, instead of obtaining the map data from the previously stored map data unit 21. may

The display terminal 20 is preferably a tablet terminal in which the display section 23 and the operation section 25 are integrated. Note that the display terminal 20 is not limited to a tablet terminal, and may be another type. Hereinafter, the display terminal will be referred to as a tablet terminal 20. FIG.

Alternatively, the tablet terminal 20 may be configured integrally with the mobile station 10 and provided within the mobile station 10 . By integrating the tablet terminal 20 with the mobile station 10, the mobile station is provided with a display unit, which facilitates handling.

Next, the first registration method in the registration process by the location information registration and search system 1 shown in FIG. 1 will be described with reference to the flowchart shown in FIG. 2 and the map displayed on the display unit 23 shown in FIG. In the following explanation, it is assumed that the facility 64 to be registered is a meter buried underground. In addition, in the first registration method, the desired point is located in an area where correction data from the electronic reference station 5 used for RTK positioning arranged around can be received, and the GNSS signal is stably received Registration method implemented for possible cases.

As shown in FIG. 2, first, it is checked whether the mobile station 10 owned by the user is located in an area of the mobile network 4 capable of receiving correction data from the electronic reference station 5 used for RTK positioning (see FIG. 2). 2). If the mobile station 10 is located in an area where correction data from the electronic reference station 5 used for RTK positioning cannot be received (No in S1), the mobile station 10 shifts to the third registration method shown in FIG. 12, which will be described later. .

If the mobile station 10 is located in an area where the correction data from the electronic reference station 5 can be received (Yes in S1), the mobile station 10 is installed on the equipment (underground meter) 64 to be registered. Positioning is started, and latitude and longitude data at which the mobile station 10 is located is obtained (S2). In this case, it is checked whether the mobile station 10 can stably receive the GNSS signal (S3).

When the mobile station 10 cannot stably receive the GNSS signal (No in S3), the mobile station 10 shifts to the second registration method shown in FIG. 7, which will be described later. When the mobile station 10 can stably receive the GNSS signal (Yes in S3), the first registration method in S4 and below is executed.

RTK positioning is performed between the mobile station 10 installed on the meter at the desired point and the electronic reference station 5 (S4). That is, the mobile station 10 receives the position data from the GNSS 3 and the correction data from the electronic reference station 5 of the mobile network 4 , acquires the corrected position data, and transfers the corrected position data to the tablet terminal 20 . As a result, the position of the mobile station 10 is fixed at the meter point, and the mobile station 10 determines the acquired corrected position data as the meter installation point 65 (S5).

The position registration processing unit 26 stores the corrected position data of the positioning result of the meter in the memory unit 29, and registers the facility point 65 on the map (S6). In addition, the memory unit 29 stores necessary information such as the position information regarding the installation point 65 of the meter, the date and time of the positioning, the number of the selected registration method, and the like. As a result, as shown in FIG. 3, the display unit 23 of the tablet terminal 20 displays the facility point 65 with the registered meter on the map as a symbol or graphic.

As described above, the position information of the meter is calculated and registered by the RTK positioning of the mobile station 10 and the electronic reference station 5 installed at the desired point of the meter, and the registration process of the first registration method is completed.

Next, a search process for searching for a registration point corresponding to the first registration method by the location information registration search system shown in FIG. 1 will be described with reference to the flowchart shown in FIG. 4 and the map shown in FIG.

The search process by the position information registration search system is performed by the mobile station 10 and the search/guidance processing unit 27 of the tablet terminal 20, and the point registered as the position information of the facility by the RTK positioning of the mobile station 10 and the electronic reference station 5 In this step, the mobile station 10 is moved to the location where the search is performed. The flow chart shown in FIG. 4 shows an example of a search process for searching for a registration point of a meter buried underground as a desired point by the first registration method.

First, from the menu displayed on the display unit 23 of the tablet terminal 20, the facilities and points to be searched are designated. The tablet terminal 20 reads out the information on the designated facilities and points to be searched from the memory unit 29 (S30). In this case, it is confirmed by which registration method the facility point 65 was registered from the information on the facility and the point read out from the memory unit 29 (S31).

It is determined whether the registration method of the facility point 65 is the first registration method (S32), and if it is not the first registration method (No in S32), it is determined whether it is the second registration method ( S33), in the case of the second registration method, the process proceeds to the search flowchart corresponding to the second registration method shown in FIG. 9, and in the case of the third registration method (No in S33), FIG. The search flow chart corresponding to the third registration method shown in FIG.

In the case of the first registration method (Yes in S32), in order to perform a search corresponding to the first registration method, the latitude and longitude of the registration point of the facility 64 to be registered stored in the memory unit 29 is (S34). The mobile station 10 owned by the user is connected to the tablet terminal 20, a map of the meter area, which is the equipment 64, is displayed on the tablet terminal 20, and positioning is started (S35).

Also, the mobile station 10 calculates corrected position data from the position data obtained from the GNSS 3 and the correction data of the electronic reference station 5 . That is, the latitude and longitude data of the current position of the mobile station 10 are calculated by RTK positioning between the mobile station 10 and the electronic reference station 5 (S36). Further, as shown in FIG. 5, the tablet terminal 20 displays the current position 70 of the mobile station 10 on the map as a mark in addition to the mark of the installation point 65 of the meter. From the latitude and longitude registered for the facility 64 to be registered and the latitude and longitude of the current position, the distance and bearing between the two points are calculated (S37).

It is checked whether the distance between the two points is 10 cm or less (S38). When the distance between both points exceeds 10 cm (No in S38), the tablet terminal 20 checks whether the distance between both points is 10 m or less (S39). If the distance between the two points is 10 m or less (Yes in S39), the display unit 23 displays a warning message that "There is an object to be searched within 10 m from the position of the receiver." The distance and direction are displayed (S40). After that, the mobile station 10 is moved according to the display (S41), and the process proceeds to S36.

Further, when the distance between the two points exceeds 10 m (No in S39), the tablet terminal 20 displays the distance and direction to the search object on the display unit 23 (S42). After that, the process proceeds to S41. If the distance between the two points is 10 cm or less (Yes in S38), the display unit 23 displays "Arrived at the point of the object to be explored. Guidance ends" (S43).

In this way, the search/guidance processing unit 27 on the tablet terminal 20 calculates the difference between the positioning value (current position) of the mobile station 10 and the registered value (latitude and longitude) of the facility point 65, and displays the current position on the map. and a message are displayed, the mobile station 10 is moved so that the positioning value of the mobile station 10 and the registered value match, and the current position 70 of the mobile station 10 and the facility point 65 are guided to match on the map. , can arrive at the desired installation point 65 .

The judgment values for judging the distance between the registered latitude and longitude of the facility 64 to be registered and the latitude and longitude of the current position of the mobile station 10 are 10 cm and 10 m. The data is set by the condition setting processing unit 28 of 20, and the data is not limited to this, and the data is set according to the installation status of the equipment.

Also, in FIG. 4, the tablet terminal 20 first checks in S38 whether the distance between both points is 10 cm or less. (S39), first check whether the distance between the two points is 10m or less, and then if the distance between the two points is within 10m, the distance between the two points is 10cm or less. A flowchart for checking whether or not is also assumed, and it is a matter of course that the flowchart is not limited to the order shown in FIG. 4 .

[Second registration method and position search method]
Next, a second registration method of a desired point and a position information registration search system for searching for the registered point will be described with reference to FIGS. 6 to 10. FIG. The second registration method is when the desired point is located in an area where it is possible to receive correction data from the electronic reference station 5 used for RTK positioning, and the GNSS signal cannot be received stably. It is a registration method implemented for

FIG. 6 is a block diagram showing the configuration of a second registration method for registering a desired point in the position search method and a position information registration search system using RTK positioning for searching for the registered point. FIG. 7 is a flowchart showing the second registration method in the registration process by the location information registration search system shown in FIG. 6, and FIG. 8 is a display example of facility points displayed on a map in the registration process by the second registration method. It is a figure which shows. FIG. 9 is a flowchart of a search process for searching for a registered point corresponding to the second registration method by the location information registration search system shown in FIG. It is a figure which shows the example of a display of the displayed facility point.

In the location information registration and search system 30 for implementing the second registration method and its registration point search, the same parts as the location information registration and search system 1 for implementing the first registration method and its registration point search are denoted by the same reference numerals, and the description thereof is omitted.

As shown in FIG. 6 , the location information registration search system 30 has a GNSS 3 , an electronic reference station 5 , a mobile station 10 , a tablet terminal 20 and a distance and direction measuring device 67 . The electronic reference station 5 functions as the electronic reference point 6 of the present invention.

The distance and direction measuring device 67 shown in FIG. 6 is a measuring device that actually measures the relative position from the second registration method reference point 61 (shown in FIG. 8) to the desired point, the facility point 65 (shown in FIG. 8). be. The distance and direction measuring device 67 may be a compass, a tape measure, a laser length measuring device, or the like, as long as it can measure direction and distance. In the second registration method, the second registration method reference point 61 indicates the position of the moved mobile station 10 by moving the mobile station 10 to an area where the mobile station 10 can stably receive GNSS signals. It is a reference point.

In addition, in the second registration method, when the GNSS signal cannot be stably received at the facility point to be registered, for example, the radio waves from the satellite are reflected and blocked by the building, and the mobile station stably receives the GNSS signal. I am in a state where I cannot. On the other hand, reception of correction data from the electronic reference station 5 is less likely to be affected by buildings. Thereby, in order for the mobile station to stably receive the GNSS signal, the mobile station moves from the facility point to be registered to a place where the satellite can be seen without being affected by the building. Typically, a distance of a few meters is sufficient for movement.

Next, the second registration method in the registration process by the location information registration and search system 30 shown in FIG. 6 will be described with reference to the flowcharts shown in FIGS. 2 and 7 and the map displayed on the display unit 23 shown in FIG. do. In the following explanation, it is assumed that the facility 64 to be registered is a meter buried underground.

As shown in FIG. 2, it is checked whether the mobile station 10 can stably receive the GNSS signal, and if the mobile station 10 cannot stably receive the GNSS signal (No in S3 shown in FIG. ), the process proceeds to the second registration method shown in FIG.

As shown in FIG. 7, the mobile station 10 is installed in an area around the location of the facility 64 to be registered and in which GNSS signals can be stably received (S10). The mobile station 10 is fixed using a tripod or the like, and the fixed position is defined as a second registration method reference point 61 (S11).

Next, the mobile station 10 positioned at the second registration method reference point 61 locates the second registration method reference point 61 by RTK positioning with the electronic reference station 5, and the position data from the GNSS signal and the mobile network 4 Corrected position data is acquired with correction data from the electronic reference station 5, transferred to the tablet terminal 20 as position data of the second registration method reference point 61, and stored in the memory unit 29 (S12).

Next, the relative position from the point used as the second registration method reference point 61 to the facility 64 to be registered is actually measured by the distance and direction measuring device 67, and the measured result of the relative position value is sent from the operation unit 25 to the position registration processing unit 26. (S13).

Next, as shown in FIG. 8, the position data at the second registration method reference point 61 measured by the mobile station 10, the azimuth and distance data from the second registration method reference point 61 to the facility 64 to be registered Based on this, the facility point 65 is registered on the map (S14). In addition, the memory unit 29 stores necessary information such as position information regarding the installation point of the meter, date and time of positioning, number of the selected registration method, and the like. As a result, as shown in FIG. 8, the tablet terminal 20 marks on the map of the display unit 23 the second registration method reference point 61 where the GNSS signal can be stably received and the facility point 65 where the meter is registered. indicate.

As described above, the position of the second registration method reference point 61 is measured using the RTK positioning of the second registration method reference point 61, which is the position of the mobile station 10, and the electronic reference station 5, and the position of the second registration method reference point 61 is determined. The relative position from the point 61 to the point of the meter is actually measured, the position information of the meter is calculated and registered, and the registration process of the second registration method is completed.

Next, a search process for searching for a registered point corresponding to the second registration method by the position information registration search system 30 shown in FIG. 6 will be described with reference to the flowchart shown in FIG. The flowchart shown in FIG. 9 shows a search process for searching for the positions of meters buried underground.

As shown in FIG. 4, first, the facility and location to be searched are designated from the menu displayed on the display unit 23 of the tablet terminal 20 (S30). As a result, the tablet terminal 20 reads from the memory unit 29 the information on the designated facilities and points to be searched. In this case, from the information of the facility and the location read out from the memory section 29, it is confirmed by which method the facility location was registered (S31).

It is determined whether the registration method of the facility point is the first registration method (S32), and if it is not the first registration method (No in S32), it is determined whether it is the second registration method (S33). ), in the case of the second registration method, the second registration method is selected (Yes in S33), and the process proceeds to the search flowchart corresponding to the second registration method shown in FIG.

As shown in FIG. 9, the latitude and longitude that is the position of the second registration method reference point 61 in the second registration method stored in the memory unit 29 is read out (S50), and the mobile station 10 is connected to the tablet terminal 20. Then, RTK positioning is started (S51).

Further, the mobile station 10 calculates corrected position data from the position data obtained from the GNSS 3 and the correction data of the electronic reference station 5 in order to move to the second registration method reference point 61 . That is, the latitude and longitude data of the current position 70 of the mobile station 10 are calculated by RTK positioning between the mobile station 10 and the electronic reference station 5 (S52). Second registration method Based on the registered latitude and longitude of the reference point 61 and the latitude and longitude of the current position of the mobile station 10, the distance and azimuth of both points are calculated (S53). It is checked whether the distance between the two points is 10 cm or less (S54).

Further, as shown in FIG. 10, the search/guidance processing unit 27 of the tablet terminal 20 not only marks the installation point 65 of the meter, but also calculates the current position 70 of the mobile station 10 and the second registration method reference point 61. and on the map. If the distance between the two points exceeds 10 cm (No in S54), the tablet terminal 20 checks whether the distance between the two points is 10 m or less (S55).

If the distance between the two points is 10 m or less (Yes in S55), the warning message "The second registration method reference point exists within 10 m from the position of the receiver." The distance and direction to the registration method reference point are displayed (S56). After that, the user moves the mobile station 10 according to the display (S57), and proceeds to S52.

If the distance between the two points exceeds 10 m (No in S55), the tablet terminal 20 displays the distance and direction to the second registration method reference point 61 on the display unit 23 (S58). After that, the process proceeds to S57.

If the distance between the two points is 10 cm or less (Yes in S54), the message "You have arrived at the point of the second registration method reference point. Guidance ends." is displayed on the display unit 23 (S59).

As a result, the search/guidance processing unit 27 on the tablet terminal 20 calculates the difference between the current position 70 of the mobile station 10 and the registered value (latitude and longitude) of the second registration method reference point 61, and displays the difference on the map. The current location 70 of the mobile station 10 and the message are displayed. The mobile station 10 is moved so that the positioning value of the mobile station 10 and the registered value of the second registration method reference point 61 match, and the current position 70 of the mobile station 10 and the second registration method reference point 61 are displayed on the map. , the second registration method reference point 61 is reached.

Next, the tablet terminal 20 displays the relative position from the second registration method reference point 61 to the facility point 65, and the user or the like can measure the distance and direction based on the relative position information displayed on the tablet terminal 20. Actual measurement is performed up to the installation point 65 by the device 67 (S60). The facility point 65 is determined by actual measurement.

Thus, in the second registration method and its position search method, the mobile station is installed in an area where the GNSS signal can be stably received, and the installation position of the mobile station 10 is set as the second registration method reference point 61, By moving the mobile station 10 so that the display of the current location of the mobile station 10 matches the display of the second registration method reference point 61, the second registration method reference point 61 is identified and the second registration method reference The installation point 65 is determined by actually measuring the relative position from the point 61 to the point of the meter. As a result, even if the facility to be searched is a point where the GNSS signal cannot be stably received, the search can be performed.

[Third registration method and its position search method]
Next, a third method of registering a desired point and a position information registration search system for searching for the registered point will be described with reference to FIGS. 11 to 15. FIG. In the third registration method, the desired point is located in an area where correction information from the electronic reference station used for RTK positioning placed around cannot be received, and the GNSS signal can be stably received. It is a registration method implemented for a case.

FIG. 11 is a block diagram showing the configuration of a position information registration search system 40 using RTK positioning for executing a search for a third registration method in the position search method and its registration point. FIG. 12 is a flowchart showing the third registration method in the registration process by the location information registration and search system 40 shown in FIG. FIG. 10 is a diagram showing an example; FIG. 14 is a flowchart of a search process for searching for a registered point corresponding to the third registration method by the position information registration search system 40 shown in FIG. 11, and FIG. FIG. 10 is a diagram showing a display example of facility points displayed in .

In the location information registration and search system 40 for implementing the third registration method and its registration point search, the same parts as the location information registration and search system 1 for implementing the first registration method and its registration point search are denoted by the same reference numerals, and the description thereof is omitted.

As shown in FIG. 11, a third registration method for registering a desired point and a location information registration search system 40 for searching for the registered point include a GNSS 3, a reference station 45, a mobile station 18, and a tablet terminal 20. have.

The reference station 45 in the position information registration search system 40 that searches for the third registration method and its registration point performs relative positioning of RTK positioning with the mobile station 18. A receiving antenna 50 for receiving a radio signal, a GNSS receiver 46 for calculating position data from the signal received by the receiving antenna 50, a processing unit 47 for processing the position data from the GNSS receiver 46, and processing by the processing unit 47 It has a wireless device 48 for outputting position data of the reference station 45 from an antenna 49 . Radio 48 communicates with mobile station 18 and outputs position data of reference station 45 to mobile station 18 .

The mobile station 18 in the location information registration search system 40 performs relative positioning of RTK positioning with the reference station 45 and has a wireless device 16 and an antenna 15 for receiving location data from the reference station 45 . The position data of the reference station 45 received by the wireless device 16 is input to the RTK calculation unit 19, and the RTK calculation unit 19 calculates the difference between the position data received by the GNSS receiver 11 and the position data from the reference station 45. , the relative position from the reference station 45 is calculated.

In this way, the reference station 45 and the mobile station 18 communicate wirelessly (Bluetooth, wireless LAN, business use/special wireless, etc.) via the wireless device 48 (standard station 45) and the wireless device 16 (mobile station 18). , the mobile station 18 receives the position data calculated from the GNSS signal by the reference station 45 as reference data (data for relative positioning by RTK positioning), and the RTK calculation unit 19 receives the movement received by the GNSS receiver 11 A difference between the position data of the station 18 and the position data (reference data) from the reference station 45 is calculated to calculate the relative position from the reference station 45 . The distance between the reference station 45 and the mobile station 18 is preferably within 200 meters within the short-range communication area.

The tablet terminal 20 in the location information registration search system 40 is connected to the mobile station 18 regardless of whether it is wired or wireless and moves together with the mobile station 18. A control processing unit 22 that performs processing using relative position data and mark position data serving as unique reference points, a map data unit 21 for acquiring map data corresponding to the mark position data, and map data. It has a display unit 23 for displaying, and an operation unit 25 for input operation by a user or the like. The control processing unit 22 incorporates a CPU and executes programs stored in the memory unit 29 to perform various processes.

1 (first registration method/search method) and FIG. 6 (second registration method/search method) in the control processing unit 22 and the map data unit 21. 1 and 6, the control processing unit 22 and the map data unit 21 perform processing using the corrected position data from the RTK calculation unit 12 of the mobile station 10, but the third registration In the tablet terminal 20 of FIG. 11 related to the method/search method, processing is performed using the data of the relative position of the mobile station 18 from the reference station 45 received from the RTK calculation unit 19 and the position data of the mark serving as a unique reference point. 1 and 6. The other configuration is the same as that of the tablet terminal 20 shown in FIGS.

1 and 6, the tablet terminal 20 may be configured integrally with the mobile station 18 and provided within the mobile station 18, and the tablet terminal 20 may be integrated with the mobile station 18. With this configuration, the mobile station 18 is provided with a display unit, which facilitates handling.

The position information registration search system 40 using the RTK positioning for implementing the third registration method and its registration point search is such that a desired point such as an installed facility cannot receive correction information from the electronic reference station 5. It is used when it is located in an area where correction information from the electronic reference station 5 cannot be received, but GNSS signals can be stably received. Therefore, in the third registration method, fixed installations such as traffic lights, fire hydrants, road signs, etc. that do not move even when searching for the facility location are used as landmarks, and the landmarks are unique. As a third registration method reference point 62 (shown in FIG. 13), which is a reference point, a reference station 45 capable of positioning by GNSS signals is installed at the third registration method reference point 62 . In particular, in a snowy country, the third registration method reference point 62 is a facility that is not buried in snow and does not move, for example, a traffic signal on the road.

In the third registration method, unlike the first registration method and the second registration method, the signal from the electronic reference station 5 cannot be received. The used correction data cannot be received, and high-precision positioning of the absolute position cannot be performed as it is. However, although the third registration method allows mobile station 18 and reference station 45 to use only GNSS signals, since mobile station 18 and reference station 45 are located relatively close to each other, each of mobile station 18 and reference station 45 , the relative positioning itself between the mobile station 18 and the reference station 45 is highly accurate.

That is, in the case of positioning using only GNSS signals, positioning errors occur due to irregular reflection of radio waves by the ionosphere, disturbance, delay of radio waves, weather conditions, etc. However, the positioning errors in each of the mobile station 18 and the reference station 45 are substantially equal. , the relative positioning itself between the mobile station 18 and the reference station 45 can be performed with high accuracy.

In this way, in the location information registration and search system 40 that searches for the third registration method and its registration point, the reference station 45 is used as the base station and the mobile station 18 is used as the slave station. By RTK positioning with the reference station 45, the mobile station 18 calculates the relative position from the position with the reference station 45 with high accuracy, and uses a mark that does not move as a third registration method reference point 62, which is a unique reference point, from there. By performing relative positioning between the mobile station 18 and the reference station 45, registration and search of the facility 64 can be performed with high accuracy.

Next, the third registration method in the registration process by the location information registration and search system 40 shown in FIG. 11 will be described with reference to the flowcharts shown in FIGS. 2 and 12 and the map displayed on the display unit 23 shown in FIG. do. In the following explanation, it is assumed that the facility 64 to be registered is a meter buried underground.

As shown in FIG. 2, the mobile station 18 owned by the user checks whether the correction data from the electronic reference station 5 of the mobile network 4 can be received (S1). If the mobile station 18 is in an area where the correction data from the electronic reference station 5 of the mobile network 4 cannot be received (No in S1), the process shifts to the third registration method shown in FIG.

As shown in FIG. 12, a reference station 45 that can be positioned by the GNSS signal is prepared by setting a point where the GNSS signal can be stably received as the third registration method reference point 62 . (S20). As the third registration method reference point 62, a non-moving object such as a traffic light or a utility pole is selected as a landmark. A reference station 45 is installed beside the reference point 62 for the third registration method, and a GNSS signal is received to perform positioning (S21).

Next, the mobile station 18 is installed on the facility 64 to be registered, receives GNSS signals, and performs positioning (S22). The mobile station 18 communicates with the reference station 45, and calculates the azimuth and distance from the position relative to the reference station 45 based on the position data measured by the reference station 45 and the position data of the registration target facility 64 positioned by the mobile station 18. (S23). The azimuth and distance are indicated by the distance from the reference station 45 to the mobile station 18 in the north-south direction (NS direction in FIG. 13) and the east-west direction (EW direction in FIG. 13).

In addition, the memory unit 29 stores necessary information such as the position of a traffic signal or the like serving as a mark as the third registration method reference point 62, the position information regarding the installation point of the meter, the date and time of positioning, the number of the selected registration method, etc. is stored and registered. As a result, as shown in FIG. 13, the display unit 23 of the tablet terminal 20 displays on the map the mark registered as the third registration method reference point 62 and the registered facility point 65 of the meter. . As described above, the position information of the facility 64 to be registered by the third registration method is registered, and the registration process is completed.

Next, a search process for searching for a registered point corresponding to the third registration method by the position information registration search system 40 shown in FIG. 11 will be described with reference to flowcharts shown in FIGS. 4 and 14. FIG. The flowchart shown in FIG. 14 shows the search process for searching for the positions of meters buried underground.

As shown in FIG. 4, first, the facility and location to be searched are designated from the menu displayed on the display unit 23 of the tablet terminal 20 (S30). As a result, the tablet terminal 20 reads from the memory unit 29 the information on the designated facilities and points to be searched. In this case, from the information of the facility and the location read out from the memory section 29, it is confirmed by which method the facility location was registered (S31).

It is determined whether the registration method of the facility point is the first registration method (S32), and if it is not the first registration method (No in S32), it is determined whether it is the second registration method (S33). ), and if it is not the second registration method, the third registration method is selected (No in S33), and the process proceeds to the search flowchart corresponding to the third registration method shown in FIG.

As shown in FIG. 14, relative distance information between the position of the third registration method reference point 62 in the third registration method stored in the memory unit 29 and the object to be searched, which is the meter, is read out (S70). The relative distance information is the north-south and east-west distances from the third registration method reference point 62 to the search object. The tablet terminal 20 is used to confirm a traffic signal or a utility pole registered as a reference point 62 for the third registration method (S71). After confirming the third registration method reference point 62, the reference station 45 is installed beside the third registration method reference point 62, and after installation, the reference station 45 receives GNSS signals and performs positioning (S72). The user carries the mobile station 18, receives GNSS signals, and performs positioning (S73).

The mobile station 18 communicates with the reference station 45 to acquire the position data of the reference station 45, calculates the relative position data from the position data positioned by the reference station 45 and the position data positioned by the mobile station 18, and obtains the calculated relative position data. is output to the tablet terminal 20 (S74). The tablet terminal 20 calculates the distance and bearing between the reference station 45 and the mobile station 18 (S75).

Next, the tablet terminal 20 checks whether the distance between the two points is 10 cm or less (S76). Further, as shown in FIG. 15, the search/guidance processing unit 27 of the tablet terminal 20 registers the current position 70 of the mobile station 10 and the calculated current position 70 of the mobile station 10 as marks in addition to the mark of the registered facility point 65 of the meter. A third registration method reference point 62 is displayed on the map.

When the distance between both points exceeds 10 cm (No in S76), the tablet terminal 20 checks whether the distance between both points is 10 m or less (S77). Yes), the display unit 23 displays a warning message "There is an object to be searched within 10 m from the position of the receiver" and the distance and direction to the object to be searched (S78). After that, the mobile station is moved according to the display (S79), and the process proceeds to S74.

When the distance between the two points exceeds 10 m (No in S77), the tablet terminal 20 displays the distance and direction to the object on the display unit 23 (S80). After that, the process proceeds to S79.

If the distance between the two points is 10 cm or less (Yes in S76), the display unit 23 displays "Arrived at the point of the object to be explored. Guidance ends" (S81).

In this way, the search/guidance processing unit 27 of the tablet terminal 20 calculates the difference between the positioning value of the mobile station 18 and the registered value of the facility point, and the current position 70 of the mobile station 18 and the message are displayed on the map. , guides the mobile station 18 so that the positioning value and the registered value match, and moves so that the mobile station 18 and the facility point 65 match on the map, and arrives at the desired facility point 65 .

Thus, in the third registration method and its position search method, even in an area where the correction information from the electronic reference station 5 cannot be received, if the GNSS signal can be stably received, the third registration is performed. The reference station 45 is installed at a mark that serves as a method reference point 62, and the relative position between the reference station 45 and the mobile station 18 is measured by RTK positioning between the reference station 45 and the mobile station 18, and movement from the mark is performed. The location relative to the station 18 allows the location of the facility to be located. In addition, since highly accurate absolute position coordinates such as electronic reference points are not required, positioning can be performed in a short period of time.

In addition, in the first search method to the third search method, the mark of the installation point 65 of the meter is displayed on the surrounding map on the display unit 23 of the tablet terminal 20, and the meter (equipment 64) is searched. In this case, instead of displaying the surrounding map on the tablet terminal 20, the surrounding scenery is displayed on the display unit 23 through the camera unit (not shown) of the tablet terminal 20, and AR (Augmented Reality) technology is used. can be used to display the mark at the meter installation point 65 in the displayed surrounding landscape.

That is, the tablet terminal 20 calculates the installation point 65 from the position photographed by the camera unit, the photographing direction (azimuth), the magnification, etc., and displays the installation point 65 of the meter in the surrounding scenery displayed on the display unit 23. It is also possible to display indicia. In this case, AI (Artificial Intelligence) is used to calculate the facility point 65 from the surrounding map image, the position information of the facility point 65, and the image recognition of the captured surrounding scenery, and display the surrounding area on the display unit 23. It is also possible to display the mark at the installation point 65 of the meter in the landscape.

This is also possible when checking the mark of the meter installation point 65 registered in the first to third registration methods on the tablet terminal 20. It is also possible to display the scenery through the camera section (not shown) of the tablet terminal 20 and display the mark at the installation point 65 of the meter in the displayed scenery.

The invention can be embodied in many forms without departing from its essential characteristics. Therefore, it should be understood that the above-described embodiments are merely illustrative and not limiting of the present invention.

Also, the functional block diagrams shown in FIGS. 1, 6, and 11 show the functional configurations of the location information registration and search systems 1, 30, and 40 of the present invention, and do not limit specific implementation forms. . In other words, hardware corresponding to the functional blocks in the figure need not be implemented, and it is of course possible to adopt a configuration in which one processor executes a program to realize the functions of a plurality of functional units. Moreover, part of the functions realized by software in the embodiments may be realized by hardware, and further, part of the functions realized by hardware may be realized by software.

1, 30, 40 location information registration search system 3 GNSS
4 mobile network 5 electronic reference station 6 electronic reference point 10, 18 mobile station 11 GNSS receiver 12, 19 RTK calculation unit 13 communication device 14 receiving antenna 15 antenna (communication with base station)
16 wireless device 20 display terminal (tablet terminal)
21 map data unit 22 control processing unit 23 display unit 25 operation unit 26 position registration processing unit 27 search/guidance processing unit 28 condition setting processing unit 29 memory unit 45 reference station 46 GNSS receiver 47 processing unit 48 wireless device 49 antenna 50 antenna 61 Second registration method reference point 62 Third registration method reference point 64 Facility 65 Facility point 67 Distance and direction measuring device (measure)
70 Current position of mobile station

Claims (5)

A position search method using RTK positioning that performs relative positioning between two points by registering a desired point in advance and searching for and identifying the registered point,
comprising a step of registering the desired point and a step of searching for the registered point,
In the registration step, as a first registration method, the desired point is located in an area capable of receiving correction information using absolute position information of the electronic reference point from electronic reference points arranged in the surrounding area, And, when the GNSS signal can be stably received, calculating and registering the position information of the desired point by RTK positioning of the mobile station installed at the desired point and the electronic reference point,
As a second registration method, when the desired point is located in an area where the correction information can be received and the GNSS signal cannot be received stably, it is around the desired point and the GNSS signal Positioning of the second registration method reference point by RTK positioning of the second registration method reference point and the electronic reference point, using a mobile station installed in an area where it can stably receive and actually measuring the relative position from the reference point of the second registration method to the desired point, calculating and registering the position information of the desired point,
As a third registration method, when the desired point is located in an area where the correction information cannot be received and the GNSS signal can be stably received, By setting a mark to be a third registration method reference point, a reference station is installed at the third registration method reference point, and a mobile station is installed at the desired point, and between the reference station and the mobile station , measuring the relative position of the reference station and the mobile station by RTK positioning, and registering the relative position information of the mobile station from the landmark;
As the search step, the search for the desired point according to the first registration method includes moving the mobile station to the point registered as the position information of the desired point by RTK positioning between the mobile station and the electronic reference point. Search for the desired point by moving,
The search for the desired point according to the second registration method is performed by moving the mobile station to the second registration method reference point by RTK positioning of the mobile station and the electronic reference point, and performing the second registration method. actually measuring the relative position from the reference point to the desired point to search for the desired point;
The search for the desired point according to the third registration method is performed by installing a reference station at the mark and using a mobile station between the reference station and the mobile station by RTK positioning. A position search method, comprising searching for the desired point using the relative position information with respect to the mobile station. In searching for the desired point according to the first registration method,
the mobile station has a display unit capable of displaying the current location of the mobile station on a map;
The display unit can also display the registered desired point on the map,
A user of the position search method can search for the desired point by moving the mobile station so that the display of the current location of the mobile station matches the display of the desired point on the map. The position search method according to claim 1, characterized by: In searching for the desired point according to the second registration method,
the mobile station has a display unit capable of displaying the current location of the mobile station on a map;
The display unit can also display the second registration method reference point and the registered desired point on the map,
The user of the position search method moves the mobile station so that the display of the current location of the mobile station matches the display of the second registration method reference point on the map, thereby performing the second registration. A method reference point is specified, and the desired point can be searched using the relative position from the second registration method reference point to the desired point. The position search method described in . In searching for the desired point according to the third registration method,
The mobile station comprises a display unit capable of displaying the position of the mark and the registered desired point on a map,
The display unit matches the reference station with the mark displayed on the map and displays the current location of the mobile station on the map using the relative position information between the reference station and the mobile station. is viewable and
The user of the position search method can search for the desired point by moving the mobile station so that the display of the current location of the mobile station matches the display of the registered desired point on the map. 4. The position search method according to any one of claims 1 to 3, characterized in that: A buried object and/or a buried object exists at the desired point, and the position search method is used for registering and searching for the position of the buried object and/or the buried object. 5. The position search method according to claim 4.

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