JP3576887B2 - Positioning information providing system - Google Patents

Description

【００２８】
なお、ある時系における真の受信時刻ｔ_Ｕを、ユーザクロックｔ_Ｕ’とその誤差δｔ_Ｕで表現する。また、ある時系における真の受信時刻ｔ_Ｇｉを、ユーザクロックｔ_Ｇｉ’とその誤差δｔ_Ｇｉで表現する。そして、測位演算部１７０は、演算結果を出力する。
【００２９】
また、基地局ＣＳ１〜ＣＳ３からの疑似距離／時刻補正情報／基地局位置、及び未知数であるユーザ位置Ｐ_Ｕ＝（ｘ_Ｕ，ｙ_Ｕ，ｚ_Ｕ）は下式の関係となる。なお、
【００３０】
【数２】

【００３１】
なお、ｃは光速であり、Ｒ_ｅは地球の半径であり、ｈは地球半径をＲ_ｅとしたときの高度である。
【００３２】
すなわち、測位演算部１７０は、各基地局ＣＳ１〜ＣＳ３との疑似距離を求める機能を加え、さらにユーザ受信機１００自身の位置計算機能を加えることで、上記連立方程式を解くことができ、これにより結果として独自に位置決定を行なうことができる。
【００３３】
また、この実施形態では、基地局ＣＳ１〜ＣＳ３は、自局の基準座標系での設置位置情報を記憶するメモリと、このメモリに記憶された設置位置情報と基準局側位置計測機能で計測された設置位置情報とを比較照合し、この比較照合結果に基づいて位置計測システムによる位置計測情報を基準座標系での位置情報に補正するための誤差補正情報を算出する誤差補正情報算出機能と、この誤差補正情報算出機能で算出された誤差補正情報を自局が形成する無線エリア内に送出する誤差補正情報送信機能とをさらに備えている。
【００３４】
そして、ユーザ受信機１００の測位演算部１７０は、基地局ＣＳ１〜ＣＳ３から送出された誤差補正情報に基づき、自機の計測位置を補正する誤差補正機能を備えている。このため、測位精度を向上させることができる。
【００３５】
また、ユーザ受信機１００は、位相シフト部１５０によるコード位相情報をアップリンクして基地局ＣＳ１〜ＣＳ３に送出し、基地局ＣＳ１〜ＣＳ３にて自機の位置計測を行なわせることも可能である。
【００３６】
さらに、ユーザ受信機１００は、測位衛星Ｓ１を利用した位置計測システムにより自機の位置を計測する衛星用位置計測機能をさらに備えれば、より正確な測位を行なうことが可能となる。この場合、時刻系と座標系とを統一しなければならない。
【００３７】
さらに、上記説明では、位置決定のみについて説明したが、受信信号のドップラー周波数を検出することで、ユーザ受信機１００の速度も決定できる。
【００３８】
以上のように上記実施形態によれば、基地局ＣＳ１〜ＣＳ３各々に自局の設置位置を計測する位置計測機能を設け、基地局ＣＳ１〜ＣＳ３で計測された計測位置信号は自局が形成する無線エリア内に位置するユーザ受信機１００に送出され、ユーザ受信機１００は各基地局ＣＳ１〜ＣＳ３から送出された計測位置信号に基づいて、自機の位置を計測できるようになる。すなわち、ユーザ受信機１００を所持するユーザは、通常の携帯電話システムを利用して、測位サービスを受けることが可能となる。
【００３９】
このため、ユーザ受信機１００を所持するユーザは、都市部などの建物の林立地帯に位置しても、基地局ＣＳ１〜ＣＳ３が形成する無線エリア内にいれば、自己の測位が可能となる。
【００４０】
また、上記実施形態では、基地局ＣＳ１〜ＣＳ３は、送出すべき計測位置信号に無線チャネル毎に異なるロングコードを乗じることによりスペクトラム拡散変調して無線エリア内に伝送するようにし、ユーザ受信機１００は、基地局ＣＳ１〜ＣＳ３からそれぞれ計測位置信号をアンテナ１１０で受信し、これら受信信号からＰＲＮコード発生器１４０で発生するＰＲＮコードに相当する計測位置信号を逆拡散部１２１〜１２３でスペクトラム逆拡散復調し、測位演算部１７０にてコード位相成分に該当する無線チャネルの基地局ＣＳ１〜ＣＳ３との疑似距離を求めるようにしている。このため、ユーザ受信機１００では、基地局ＣＳ１〜ＣＳ３との疑似距離を求めることが可能となり、また、各基地局ＣＳ１〜ＣＳ３からは、計測位置信号が送出されるので、この計測位置に疑似距離を加えれば自装置の位置を求めることができる。
【００４１】
さらに、上記実施形態によれば、基地局ＣＳ１〜ＣＳ３にて位置計測システムによる位置計測情報を基準座標系での位置情報に補正するための誤差補正情報を算出され、この誤差補正情報が無線エリア内に位置するユーザ受信機１００に通知され、ユーザ受信機１００はこの通知された誤差補正情報に基づき、計測位置を補正することにより基準座標系での現在位置を算出できる。
【００４２】
このため、ユーザ受信機１００では、周囲の状況に影響されることなく正確な位置計測を行なうことが可能となり、測位精度を大幅に向上できる。
【００４３】
また、上記実施形態において、ユーザ受信機１００は、既存の移動電話機であり、非通話チャネルを使用して基地局ＣＳ１〜ＣＳ３からの設置位置信号を受信するようにしている。このため、高精度な測位システムを構築するために、別途新たな地上設備等を設置することなく、また、新たに受信装置を用意することなく、既に携帯電話システムで使用されている移動電話機及び基地局で構築できるようになり、これにより安価なシステムを提供することができる。
【００４４】
また、上記ユーザ受信機１００は、位相シフト部１５０で検出されたコード位相情報をアップリンクで基地局ＣＳ１〜ＣＳ３に送信するようにして、自機の位置を基地局ＣＳ１〜ＣＳ３で計測させることができるので、その分、測位演算部１７０の処理能力を低くでき、このため、ユーザ受信機１００の小型化及び低価格化に寄与できる。
【００４５】
なお、上記実施形態において、ユーザ受信機１００は、３つの基地局ＣＳ１〜ＣＳ３からの信号を受信できれば、図３に示す如く、２次元測位が可能であるが、４つの基地局からの信号を受信することができれば３次元測位が可能である。また、ＧＰＳ衛星を利用するようにしても、測位が可能となる。
【００４６】
なお、この発明は、ＣＤＭＡ方式の携帯電話システムのみならず、測位ができるものならば、他の移動通信システムにも適用可能である。
【００４７】
【発明の効果】
以上詳述したようにこの発明によれば、周囲の状況に影響されることなく高精度な測位を行なうことが可能で、かつ安価なシステムで測位に関する信頼性を向上させることが可能であり、さらに、受信装置の構成上及び処理上の負担を軽減して、小型化及び低価格化に寄与し得る測位情報提供システムを提供することができる。
【図面の簡単な説明】
【図１】この発明に係わる測位情報提供システムの一実施形態を示す概略構成図。
【図２】上記図１に示したユーザ受信機の要部構成を示す回路ブロック図。
【図３】同実施形態のシステムに適用される受信数と測位の形態との関係を示すテーブル。
【符号の説明】
１００…ユーザ受信機、
１１０…アンテナ、
１２１〜１２３…逆拡散部、
１３０…追尾制御部、
１４０…ＰＲＮコード発生器、
１５０…位相シフト部、
１６０…データ解読部、
１７０…測位演算部、
ＣＳ１〜ＣＳ３…基地局、
Ｓ１…測位衛星。[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a positioning information providing system using a position measurement system using a positioning satellite such as a GPS, for example.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a GPS (Global Positioning System) has been known as a position measurement system that measures the position of a receiving device using a positioning satellite. The GPS satellites fly at an altitude of 20,000 km, and when there are few obstacles overhead, navigation using GPS is possible.
[0003]
However, when trying to use GPS in an urban area, a building that stands in a forest often hinders the reception of GPS signals from GPS satellites, and as a result, the GPS receiver often does not function.
[0004]
On the other hand, conventionally, it has been considered that positioning is performed by a terminal such as a mobile phone, but the mobile terminal is not provided with a navigation function.
[0005]
[Problems to be solved by the invention]
As described above, the conventional position measurement system has a problem that when it is used in an urban area, a building that stands in a forest becomes an obstacle, and it is not possible to accurately measure the position.
[0006]
Therefore, an object of the present invention is to provide a positioning information providing system capable of performing high-accuracy positioning without being affected by surrounding conditions, and improving the reliability of positioning with an inexpensive system. is there.
[0007]
[Means for Solving the Problems]
A positioning information providing system according to the present invention is a positioning information providing system that uses a position measuring system using a positioning satellite, and is installed at points whose positions have been measured in advance using a three-dimensional reference coordinate system, and respectively establishes a wireless area. A plurality of base stations to be formed, and a receiving device located in a wireless area formed by each of at least three or more base stations among the plurality of base stations. Base station-side position measuring means for measuring the distance, and transmitting means for transmitting a measured position signal measured by the base station-side position measuring means into a wireless area formed by the own station. Receiving means for receiving a measured position signal from a base station of the same, and a receiving-side position meter for measuring the position of its own device based on three or more measured position signals received by the receiving means It is obtained by such and means.
[0008]
According to this configuration, each of the three or more base stations is provided with a position measurement function for measuring the installation position of the own station, and the measurement position signal measured by the base station is received by a receiving device located in the wireless area formed by the own station , And the receiving apparatus can measure its own position based on the measurement position signals transmitted from three or more base stations. That is, the user having the receiving device can receive the positioning service using the ordinary mobile communication system.
[0009]
For this reason, the user who owns the receiving device can perform his / her own positioning even if the user is located in a forest area of a building such as an urban area and is in a wireless area formed by three or more base stations.
[0010]
Further, in the above configuration, the transmission means of the base station has a function of performing spread spectrum modulation by multiplying a measurement position signal to be transmitted by a different spread code for each wireless channel and transmitting the spread spectrum signal within a wireless area. The means has a function of receiving measurement position signals from three or more base stations, respectively, and performing spectrum despread demodulation of the measurement position signal corresponding to the channel number separately input from these reception signals. The measuring means has a function of extracting a code phase component occurring in the measurement position signal selectively output by the receiving means, and obtaining a pseudo distance from a base station of a wireless channel corresponding to the code phase component based on the code phase component. It is characterized by becoming. By doing so, the receiving device can determine the pseudo distance to the base station, and a measurement position signal is transmitted from each base station. If the pseudo distance is added to this measurement position, The position of the own device can be obtained.
[0011]
Further, in the above configuration, the base station measures the position by the position storage means for storing the installation position signal of the base station in the reference coordinate system, and the installation position signal stored in the position storage means and the reference station side position measurement means. Error correction information calculating means for comparing and collating with the installation position signal and calculating error correction information for correcting position measurement information by the position measurement system to position information in the reference coordinate system based on the comparison and collation result; Error correction information transmission means for transmitting the error correction information calculated by the error correction information calculation means into the wireless area formed by the own station, the receiving device, based on the error correction information transmitted from the base station, The apparatus further includes an error correction unit that corrects the measurement position of the own device by the reception-side position measurement unit.
[0012]
According to this configuration, the base station calculates error correction information for correcting the position measurement information by the position measurement system to the position information in the reference coordinate system, and the error correction information is located in the wireless area. The receiving device can calculate the current position in the reference coordinate system by correcting the measurement position based on the notified error correction information.
[0013]
For this reason, the receiving device can perform accurate position measurement without being affected by surrounding conditions.
[0014]
Further, in the above configuration, when the receiving apparatus is a mobile phone, the receiving apparatus receives installation position signals from three or more base stations using a non-communication channel. In this way, in order to construct a high-accuracy positioning system, it is already used in a mobile phone system without installing new ground equipment or the like and without preparing a new receiving device. Mobile phones and base stations, which can provide an inexpensive system.
[0015]
Further, the receiving device further includes a transmitting unit that transmits a code phase component of the measurement position signal selectively output by the receiving unit to a base station of a corresponding channel, so that the position of the own device can be measured by the base station. Therefore, the processing capability of the processor of the receiving device can be reduced correspondingly, which can contribute to downsizing and cost reduction of the receiving device.
[0016]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0017]
FIG. 1 is a schematic configuration diagram showing an embodiment of a positioning information providing system according to the present invention.
[0018]
In the system of this embodiment, a position measurement system using the positioning satellite S1 is used. Further, in this system, three base stations CS1 to CS3 each forming a wireless area are installed at points whose positions are measured in advance in a three-dimensional reference coordinate system. The user receiver 100 is located in the wireless area formed by each of the base stations CS1 to CS3.
[0019]
Each of the base stations CS1 to CS3 transmits a base station-side position measurement function for measuring the installation position of the own station by a position measurement system using the positioning satellite S1, and a measurement position signal measured by the base station-side position measurement function. And a transmission function of transmitting the signal to a wireless area formed by the own station.
[0020]
The user receiver 100 has a receiving function of receiving measurement position signals from at least three or more base stations, and a receiving side that measures the position of its own device based on the three or more measurement position signals received by the reception function. It has a position measurement function.
[0021]
FIG. 2 is a circuit block diagram illustrating a main configuration of the user receiver 100.
[0022]
That is, the user receiver 100 is, for example, a mobile telephone used in a CDMA (code division multiplexing) transmission system, and includes an antenna 110, despreading units 121 to 123 constituting a receiving function, a tracking control unit 130, a PRN (pseudo A) a code generator 140 and a phase shift unit 150; and a data demodulation unit 160 and a positioning calculation unit 170 that constitute a receiving-side position measurement function.
[0023]
Each of the base stations CS1 to CS3 performs spread spectrum modulation by multiplying the measurement position signal to be transmitted by a different long code for each wireless channel, and transmits the spread spectrum signal to the user receiver 100 via a non-voice channel in the wireless area. Note that the time correction information δt _Gi and the base station position P _Gi = (x _Gi , y _Gi , z _Gi ) are inserted in the measurement position signal.
[0024]
The user receiver 100 receives the measurement position signals from the base stations CS1 to CS3 by the antenna 110, and generates the PRN code generator 140 from the received signals by the despreading units 121 to 123 corresponding to the base stations CS1 to CS3. The measured position signal corresponding to the PRN code is subjected to spectrum despread demodulation. The demodulated signals demodulated by the despreading units 121 to 123 are combined by the tracking control unit 130 and supplied to the data decoding unit 160. Further, the tracking control unit 130 reads a code phase from each demodulated signal and supplies the code phase to the PRN code generator 140 as a control signal. Then, a phase is given to the PRN code generated from the PRN code generator 140, and this phase is detected by the phase shift unit 150. This detection result is notified to the positioning calculation unit 170. Note that signals from all base stations are spread by the same long code, but have different code phase offsets. For this reason, the user receiver 100 can detect the transmission time from each of the base stations CS1 to CS3 by reading the code phase of the received signal.
[0025]
The data decoding unit 160 decodes various data from the input synthesized signal, outputs the data to the audio system if it is audio data, and outputs it to the positioning calculation unit 170 if it is various information data.
[0026]
The positioning calculation unit 170 detects the transmission time t _Gi of the measured position signal by reading the code phase generated in the received measured position signal from the information data, and also detects the transmission time t _Gi of the measured position signal from the internal clock t _U when reading the replica phase. As shown in the equation, a pseudo distance R _Gi with the base stations CS1 to CS3 is calculated.
[0027]
(Equation 1)

[0028]
Note that a true reception time t _U in a certain time system is expressed by a user clock t _U ′ and an error δt _U thereof. Also, the true reception time t _Gi in a certain time system is expressed by a user clock t _Gi ′ and an error δt _Gi thereof. Then, positioning operation section 170 outputs the operation result.
[0029]
Also, pseudorange / time correction information / base station position from base station CS1 to CS3, and an unknown user position _{P U = (x U, y} U, z U) is the relation of the following equation. In addition,
[0030]
(Equation 2)

[0031]
Incidentally, c is the speed of light, R _e is the radius of the Earth, h is the altitude when the earth radius and R _e.
[0032]
That is, the positioning calculation unit 170 can solve the above simultaneous equations by adding a function of obtaining a pseudo distance to each of the base stations CS1 to CS3 and further adding a position calculation function of the user receiver 100 itself. As a result, the position can be determined independently.
[0033]
In this embodiment, each of the base stations CS1 to CS3 measures the installation position information of its own station in the reference coordinate system, and the installation position information stored in this memory and the reference station side position measurement function. An error correction information calculation function for comparing and collating with the installation position information, and calculating error correction information for correcting the position measurement information by the position measurement system to the position information in the reference coordinate system based on the comparison and collation result; An error correction information transmission function for transmitting the error correction information calculated by the error correction information calculation function to a wireless area formed by the own station is further provided.
[0034]
Then, the positioning operation section 170 of the user receiver 100 has an error correction function of correcting the measurement position of its own device based on the error correction information transmitted from the base stations CS1 to CS3. For this reason, the positioning accuracy can be improved.
[0035]
Further, the user receiver 100 can also uplink the code phase information from the phase shift unit 150 and send it to the base stations CS1 to CS3 so that the base stations CS1 to CS3 can measure their own positions. .
[0036]
Furthermore, if the user receiver 100 is further provided with a satellite position measurement function of measuring its own position by a position measurement system using the positioning satellite S1, it will be possible to perform more accurate positioning. In this case, the time system and the coordinate system must be unified.
[0037]
Further, in the above description, only the position determination has been described, but the speed of the user receiver 100 can also be determined by detecting the Doppler frequency of the received signal.
[0038]
As described above, according to the above embodiment, each of the base stations CS1 to CS3 is provided with the position measurement function of measuring the installation position of the own station, and the measured position signals measured by the base stations CS1 to CS3 are formed by the own station. Transmitted to the user receiver 100 located in the wireless area, the user receiver 100 can measure its own position based on the measurement position signals transmitted from each of the base stations CS1 to CS3. That is, the user having the user receiver 100 can receive the positioning service using the ordinary mobile phone system.
[0039]
For this reason, even if the user who has the user receiver 100 is located in a forest location zone of a building such as an urban area, if the user is in the wireless area formed by the base stations CS1 to CS3, the user can perform his / her own positioning.
[0040]
Further, in the above-described embodiment, the base stations CS1 to CS3 perform spread spectrum modulation by multiplying the measurement position signal to be transmitted by a different long code for each wireless channel to transmit the spread signal within the wireless area. Receives measured position signals from base stations CS1 to CS3 by antenna 110, and from these received signals, despreads measured position signals corresponding to a PRN code generated by PRN code generator 140 by despreading sections 121 to 123. The demodulation is performed, and the positioning calculation unit 170 obtains a pseudo distance from the base stations CS1 to CS3 of the wireless channel corresponding to the code phase component. Therefore, in the user receiver 100, it is possible to obtain a pseudo distance from the base stations CS1 to CS3, and a measurement position signal is transmitted from each of the base stations CS1 to CS3. By adding the distance, the position of the own device can be obtained.
[0041]
Further, according to the above embodiment, the base stations CS1 to CS3 calculate error correction information for correcting the position measurement information by the position measurement system to the position information in the reference coordinate system. Is notified to the user receiver 100 located in the area, and the user receiver 100 can calculate the current position in the reference coordinate system by correcting the measurement position based on the notified error correction information.
[0042]
For this reason, in the user receiver 100, accurate position measurement can be performed without being affected by surrounding conditions, and positioning accuracy can be significantly improved.
[0043]
Further, in the above embodiment, the user receiver 100 is an existing mobile telephone, and receives an installation position signal from the base stations CS1 to CS3 using a non-communication channel. For this reason, in order to construct a high-accuracy positioning system, there is no need to separately install new ground equipment and the like, and also, without preparing a new receiving device, a mobile phone and a mobile phone already used in the mobile phone system. The base station can be constructed, and thereby an inexpensive system can be provided.
[0044]
Also, the user receiver 100 transmits the code phase information detected by the phase shift unit 150 to the base stations CS1 to CS3 on the uplink, and causes the base stations CS1 to CS3 to measure the position of the user receiver 100. Therefore, the processing capability of the positioning calculation unit 170 can be reduced accordingly, and this can contribute to downsizing and cost reduction of the user receiver 100.
[0045]
In the above embodiment, if the user receiver 100 can receive signals from the three base stations CS1 to CS3, two-dimensional positioning is possible as shown in FIG. If it can be received, three-dimensional positioning is possible. Also, positioning can be performed by using a GPS satellite.
[0046]
The present invention is applicable not only to a CDMA mobile phone system but also to other mobile communication systems that can perform positioning.
[0047]
【The invention's effect】
As described in detail above, according to the present invention, it is possible to perform high-accuracy positioning without being affected by surrounding conditions, and to improve the reliability of positioning with an inexpensive system, Furthermore, it is possible to provide a positioning information providing system that can reduce the load on the configuration and processing of the receiving device and contribute to miniaturization and cost reduction.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram showing an embodiment of a positioning information providing system according to the present invention.
FIG. 2 is a circuit block diagram showing a main configuration of the user receiver shown in FIG. 1;
FIG. 3 is a table showing the relationship between the number of receptions and the form of positioning applied to the system of the embodiment.
[Explanation of symbols]
100: user receiver,
110 ... antenna,
121 to 123: despreading unit,
130: tracking control unit,
140 ... PRN code generator,
150: phase shift unit,
160: Data decryption unit,
170 positioning calculation unit,
CS1 to CS3 ... base station,
S1: Positioning satellite.

Claims (2)

A positioning information providing system using a position measurement system using a positioning satellite,
A plurality of base stations which are installed at points measured in advance in a three-dimensional reference coordinate system and form wireless areas, respectively;
A receiving device located in a wireless area formed by each of at least three or more base stations among the plurality of base stations,
The base station comprises:
Base station-side position measuring means for measuring the installation position of the own station by the position measurement system,
Spread spectrum modulation is performed by multiplying a measurement position signal measured by the base station side position measurement means and including a time correction information by a different long code for each wireless channel, and the modulated signal is placed in a wireless area formed by the own station. Transmission means for transmitting,
The receiving device,
Receiving means for receiving modulated signals from at least three or more base stations and spectrum despreading and demodulating a measurement position signal corresponding to a channel number separately input from the received signals;
The code phase component generated in the measurement position signal obtained by the receiving means is extracted, and the pseudo phase distance from the base station of the wireless channel corresponding to the code phase component is determined by the code phase component to measure the position of the own device. And a receiving-side position measuring means for obtaining a transmission time of each base station . A positioning information providing system using a position measurement system using a positioning satellite,
A plurality of base stations which are installed at points measured in advance in a three-dimensional reference coordinate system and form wireless areas, respectively;
A receiving device located in a wireless area formed by each of at least three or more base stations among the plurality of base stations,
The base station comprises:
Position storage means for storing an installation position signal of the own station in the reference coordinate system,
Base station-side position measuring means for measuring the installation position of the own station by the position measurement system,
The installation position signal stored in the position storage means is compared with the installation position signal measured by the base station side position measurement means, and the position measurement information by the position measurement system is compared with the reference coordinates based on the comparison and comparison result. Error correction information calculating means for calculating error correction information for correcting to position information in the system,
Transmitting the measurement position signal into a wireless area formed by the own station, and transmitting means for sending the error correction information into a wireless area formed by the own station,
The receiving device,
Receiving means for receiving the measurement position signal and the error correction information from at least three or more base stations,
A receiving-side position measuring unit that measures the position of the own device based on three or more measurement position signals obtained by the receiving unit;
A positioning information providing system, comprising: an error correcting unit that corrects a measurement position of the own device by the receiving side position measuring unit based on the error correction information.

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