JP3970473B2 - GPS device with monitoring means - Google Patents

GPS device with monitoring means Download PDF

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Publication number
JP3970473B2
JP3970473B2 JP13795699A JP13795699A JP3970473B2 JP 3970473 B2 JP3970473 B2 JP 3970473B2 JP 13795699 A JP13795699 A JP 13795699A JP 13795699 A JP13795699 A JP 13795699A JP 3970473 B2 JP3970473 B2 JP 3970473B2
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Japan
Prior art keywords
gps
route
position
positioning
gps receiver
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JP13795699A
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JP2000329839A (en
Inventor
昌俊 池田
和秀 笹本
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財団法人鉄道総合技術研究所
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Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a GPS device having monitoring means for enhancing safety by using a method such as comparing signals from a plurality of GPS devices or more than usual GPS satellites when using GPS.
[0002]
[Prior art]
Conventionally, when using GPS, many high-precision positioning methods that do not take safety into consideration in the automobile traffic field and many techniques for improving the operation rate in the aviation field have been proposed.
[0003]
[Problems to be solved by the invention]
However, a warning / monitoring system for safety and a method using a plurality of receivers and a method using route data have not been found so far.
[0004]
Moreover, although the accuracy of GPS is improved and the reliability is improved, efforts for safety (fail-safe) at the time of use are delayed. For example, when it is used for measurement of train position, it is indispensable to improve safety because it is essential to obtain an accurate position output.
[0005]
In view of the above situation, an object of the present invention is to provide a GPS device with monitoring means that is mounted on a highly reliable vehicle or the like with improved GPS accuracy.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides
[ 1 ] In a GPS device with a monitoring means configured by a GPS receiver installed in a moving body, a route information storage unit, and a calculation unit, the GPS receiver receives a GPS signal, and the route information storage unit The shape of the route in a three-dimensional space is stored, and the calculation unit obtains a geometric accuracy reduction rate based on data from the GPS receiver and the route information storage unit, and monitors the decrease in accuracy. Receives signals from GPS satellites and outputs the current position and the position of each GPS satellite used for positioning. The route information storage unit inputs the positioning position output from the GPS receiver, and near the positioning position. The route shape is output, and the calculation unit inputs the position and positioning position of the GPS satellite from the GPS receiver, and the route shape near the positioning position from the route information storage unit, and the positioning obtained for each GPS satellite. A plane perpendicular to the straight line passing through a point corresponding to a predetermined reference error of the measurement distance before and after the positioning position on the straight line passing between the GPS satellites from each other, and a route surrounded by those planes in the shape of the route near the positioning position Determine the upper section, set several warning ranks with the geometric accuracy reduction rate value on the route as the length of this section length, and in which warning rank the calculated section exists Are to be monitored.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0008]
FIG. 1 is a block diagram of a GPS device with monitoring means mounted on a vehicle showing a first reference example of the present invention.
[0009]
As shown in this figure, two GPS receivers 2 and 4 are installed, and at the same time, antennas 1 and 3 are installed on the front and rear of the roof of the vehicle 7. The monitoring device 5 compares the relative latitude, longitude, altitude, speed, and direction of the positioning information output from each GPS receiver 2, 4 and performs the following check.
[0010]
(I) Regarding latitude and longitude, are the separation distances output by the two GPS receivers 2 and 4 within the error range of the antenna installation interval?
(Ii) Regarding the speed, are the speeds output by the two GPS receivers 2 and 4 within the error range?
(Iii) While traveling, the latitude and longitude differences are calculated from the antenna installation interval according to the direction. Are the latitude and longitude differences between the two GPS receivers 2 and 4 within the error range?
(Iv) Is the altitude within the error range?
Here, when an error exceeding the error range continues for a predetermined moving distance or monitoring time, a receiver abnormality is detected. In this case, the check may omit a part of (i) to (iv).
[0011]
In addition, when three GPS receivers are used, the above determination is made for three opposite sides.
[0012]
Thus, according to this reference example, it is composed of a plurality of GPS receivers 2, 4 having a plurality of antennas 1, 3 installed in the vehicle 7 and the monitoring device 5. Compare some or all of the positioning information output by the devices 2 and 4 and check whether each positioning information is within the range of mutual relations assumed from the installation position of each antenna 1 and 3 When the determination is made and the positioning information is out of the range of the correlation as a result of the determination, the output device 6 can detect that the specific or unspecified GPS receiver is in an abnormal state.
[0013]
The positioning information includes latitude, longitude, altitude, speed, direction, time, GPS satellite information, number of received GPS satellites, and the like.
[0014]
FIG. 2 is a schematic diagram of a GPS system with monitoring means of the first reference example of the present invention.
[0015]
This is a special example of the first reference example, and compares the pseudo distances from the GPS satellites 11 to 14 opposed to each GPS receiver shown in the first reference example and intermediate information of the calculation process. is there. In the reference example, as in the first reference example, two GPS receivers 2 and 4 and antennas 1 and 3 are installed on the front and rear of the roof of the vehicle 7, and the pseudoranges from the same GPS satellite are compared. (Specifically, pseudo distances 11A and 11B and 12A and 12B are compared). In this case, the maximum pseudo-range difference is the installation interval of the antennas 1 and 3.
[0016]
Thus, according to this reference example, in the GPS device with monitoring means that is installed in the vehicle 7 and includes the plurality of GPS receivers 2 and 4 having the antennas 1 and 3, the monitoring device 5, and the output device 6,
The monitoring device 5 compares part or all of the opposing internal information regarding the position calculation of each receiver, and whether or not this internal information is within the range of the correlation assumed from the installation positional relationship of each antenna. If the result of the determination is out of the range, it can be detected that the specific or unspecified GPS receiver is in an abnormal state.
[0017]
Next, a second reference example of the present invention will be described.
[0018]
FIG. 3 is a block diagram of a GPS device with monitoring means mounted on a vehicle showing a second reference example of the present invention.
[0019]
In this reference example, 20 is a vehicle, 21 is an antenna, 22 is a GPS receiver, 23 is a speed / distance meter, 24 is an arithmetic and monitoring device, and 25 is an output device.
[0020]
In this figure, since the vehicle 20 can generally detect the vehicle position, moving distance, and speed by an axle or the like in general, the information is compared with the GPS positioning information read via the antenna 21-GPS receiver 22 to calculate the GPS. Detects whether the positioning information is correct or abnormal.
[0021]
Here, the detailed position information of GPS can be used only when the axle is sliding or idling. In many cases, a marker (ATS ground unit) is used. Since a single GPS receiver can be employed, it is not always necessary to have a plurality of GPS receivers.
[0022]
Here, the checks to be performed are as follows.
[0023]
(I) Are the position, distance and speed determined by GPS positioning within the error range of the position, distance and speed detected by the vehicle?
(Ii) Diagnose this by using continuity (does not change suddenly) or rate of change when sliding or idling occurs.
[0024]
Thus, according to the second reference example, in the GPS device with monitoring means constituted by the GPS receiver 22 having the antenna 21 installed in the vehicle 20, the arithmetic monitoring device 24, and the output device 25, the arithmetic monitoring device 24 compares the position information, moving distance and / or speed information detected by the vehicle 20 with the position information, moving distance and / or speed information output from the GPS receiver 22, and there is a difference or ratio greater than or equal to a predetermined amount between them. It is possible to detect that the specific or unspecified GPS receiver 22 is in an abnormal state.
[0025]
Next, a third reference example of the present invention will be described.
[0026]
FIG. 4 is a schematic diagram of a GPS system with monitoring means of a third reference example of the present invention.
[0027]
In this figure, 31 to 35 are GPS satellites, and a GPS receiver 27 receives positioning information from these GPS satellites via a fixed position or an antenna 26 of a mobile station.
[0028]
This is a device that monitors the soundness of GPS satellites when, for example, a DGPS that provides a reference station and sends correction information is adopted. Even if it is not set to DGPS, if abnormal information can be quickly delivered to the mobile station, it can be adopted as its own monitoring device.
[0029]
In general, n is 5 and positioning is performed with n−1, that is, four GPS satellites, and five types of positioning data are obtained. However, if one GPS satellite is abnormal, Has only one (correct) positioning data that does not include abnormal GPS satellites. In general, an average value is used, but examples of other representative values of the average value include median and mode.
[0030]
Thus, according to the third reference example, in the GPS device with monitoring means constituted by the GPS receiver 27 having the antenna 26 installed at the fixed position or the mobile station, the arithmetic monitoring device 28 and the output device 29, The GPS receiver 27 selects n including m out of m GPS satellites that can be supplemented, and performs n positionings with n-1 out of n, and the arithmetic and monitoring device 28 (A) When the standard deviation or variation of the n positioning results suddenly increases (b) When the standard deviation or variation exceeds a predetermined value (c) When only one data is deviated from the others (d ) When a representative value such as an average value deviates by a predetermined amount or more from the positioning information assumed from the fixed position, it is not included in the n-1 output positioning results closest to the positioning information assumed from the fixed position. And n It is possible to detect that the GPS satellites included therein have performed an abnormal output, and to detect that the GPS satellites are in an abnormal state when this state continues for a predetermined time.
[0031]
Next, a fourth reference example of the present invention will be described.
[0032]
FIG. 5 is a schematic diagram of a GPS system with monitoring means of a fourth reference example of the present invention.
[0033]
In this figure, reference numerals 41 to 46 denote GPS satellites, and the GPS receiver 27 receives positioning information from these GPS satellites via a fixed position or the antenna 26 of the mobile station.
[0034]
Here, there are 6 C 5 = 6 combinations for selecting 5 GPS satellites from 6 GPS satellites, and 5 C 4 = 5 combinations for selecting 4 GPS satellites from 5 GPS satellites.
[0035]
This reference example generally monitors abnormalities of GPS satellites. Among those that are advantageous from the physical arrangement, six GPS satellites are selected from those having a high reception level. Consider six types of groups in which five GPS satellites are selected from among these, and select four from each group to calculate five positioning data, and obtain variation (difference between maximum value and minimum value). Compare the variations of each group and select the group with the least variation. Assuming that at least one of the six GPS satellites has anomalies, and that the smallest group does not include anomalous GPS satellites, among the six GPS satellites, the most variable The remaining one not included in the small group is abnormal.
[0036]
As described above, according to the fourth reference example, in the GPS device with monitoring means constituted by the GPS receiver 27 having the antenna 26 installed in the fixed station or the mobile station, the monitoring device 28, and the output device 29,
The GPS receiver
(A) From m GPS satellites that can be supplemented, select n + 1 including m,
(B) Select one group of n from n + 1, perform n position positionings with n−1 of them, determine the standard deviation or variation for the n positioning data,
(C) For n + 1 groups selected from n + 1, execute (b) above to obtain n + 1 standard deviations or variations,
(D) Select the smallest of n + 1 standard deviation or variation data,
(E) It is detected that the GPS satellites included in n + 1 that are not included in the n groups exhibiting the smallest standard deviation value or variation have performed an abnormal output, and this state is maintained for a predetermined time. When continuing, it can be detected that the GPS satellite is in an abnormal state.
[0037]
Next, a fifth reference example of the present invention will be described.
[0038]
FIG. 6 is an explanatory diagram of route information of a GPS system with monitoring means mounted on a vehicle according to a fifth reference example of the present invention.
[0039]
When carrying out the present invention, the route information is preliminarily classified and stored so that the shape of the route can be searched as a collection of points at regular intervals. A part of the route information located in the vicinity of the GPS receiver is extracted from the positioning position, and the distance from the positioning position is calculated for each point of the route shape to be stored to obtain the minimum value. Point A shown in FIG. 6 is when the minimum value is within the predetermined range, and the GPS receiver is not abnormal. As shown by point B in FIG. The length of the perpendicular V from the positioning point to the straight line connecting the minimum value point and the second smallest point from the minimum value is obtained. By determining that the GPS receiver is abnormal when the length of the vertical line V is not within the predetermined range, the abnormality can be detected. By always continuing this diagnosis, the retained data can be tracked, and the corresponding route information can be easily extracted.
Next, a description will be given real施例of the present invention.
[0040]
Figure 7 is a schematic diagram of a monitoring unit with GPS system mounted on a vehicle showing the actual施例of the present invention.
[0041]
In this figure, 50 is a vehicle, 51 is an antenna, 52 is a GPS receiver, 53 is a route information storage unit, 54 is a calculation unit, and 55 is an output device.
[0042]
Reference numerals 61, 62, and 63 are GPS satellites having a route shape 64 and indicating measurement points 65 of the route.
[0043]
As described above, according to the embodiment, in the GPS positioning device including the GPS receiver 52 installed in the vehicle 50, the route information storage unit 53, the calculation unit 54, and the output device 55, the GPS receiver 52 receives a GPS signal, the route information storage unit 53 stores the shape of the route in a three-dimensional space, and the calculation unit 54 performs geometric analysis based on data from the GPS receiver 52 and the route information storage unit 53. The GPS receiver 52 receives a signal from a GPS satellite, outputs a current position and each GPS satellite position used for positioning, and outputs the route information storage unit 53. Inputs the positioning position output from the GPS receiver 52 and outputs the route shape in the vicinity of the positioning position. The calculation unit 54 determines the position and positioning position of the GPS satellite from the GPS receiver 52. A route shape in the vicinity of the positioning position is input from the route information accumulating unit 53, and a point corresponding to a predetermined reference error of the measurement distance before and after the positioning position on the straight line passing between the GPS satellites from the positioning position obtained for each GPS satellite is obtained. Each plane that is perpendicular to the street straight line is obtained, the section on the route surrounded by those planes in the route shape near the positioning position is obtained, and the alarm rank is set as the geometric accuracy reduction rate value on the route. It is possible to monitor several alarm ranks in which some of the obtained sections are set by setting the length of the section length.
[0044]
When applied to applications such as railway operation control, the safety is obtained by obtaining the linear geometric accuracy reduction rate.
[0045]
Table 1 shows an example of route information.
[0046]
[Table 1]
As shown in Table 1, the distance from the starting point of the line segment shape formula, the segment start point coordinates, the segment end point coordinates, and the distance is shown corresponding to the segment number.
[0047]
In addition, this invention is not limited to the said Example, A various deformation | transformation is possible based on the meaning of this invention, and these are not excluded from the scope of the present invention.
[0048]
【The invention's effect】
As described above in detail, according to the present invention, the following effects can be obtained.
[0049]
(A) It is possible to provide a GPS device with monitoring means that is mounted on a highly reliable vehicle or the like with improved GPS accuracy.
[0050]
(B) Realizing improved safety in a broad sense (including improved reliability), for example, expands the use of GPS in railways. Specifically, it can be applied in fields requiring safety.
[Brief description of the drawings]
FIG. 1 is a block diagram of a GPS device with monitoring means mounted on a vehicle showing a first reference example of the present invention.
FIG. 2 is a schematic diagram of a GPS system with monitoring means of a first reference example of the present invention.
FIG. 3 is a block diagram of a GPS device with monitoring means mounted on a vehicle showing a second reference example of the present invention.
FIG. 4 is a schematic diagram of a GPS system with monitoring means of a third reference example of the present invention.
FIG. 5 is a schematic diagram of a GPS system with monitoring means according to a fourth reference example of the present invention.
FIG. 6 is a schematic diagram of a GPS system with monitoring means mounted on a vehicle showing a fifth reference example of the present invention.
7 is a schematic view of the mounted by the monitoring means with a GPS system in a vehicle showing the actual施例of the present invention.
[Explanation of symbols]
1, 3, 21, 26, 51 Antenna 2, 4, 22, 27, 52 GPS receiver 5 Monitoring device 6, 25, 29, 55 Output device 7, 20, 50 Vehicle 11-14, 31-35, 41- 46, 61 to 63 GPS satellites 11A, 11B, 12A, 12B Pseudo distance 23 Speed / distance meter 24, 28 Arithmetic monitoring device 53 Route information storage unit 54 Arithmetic unit 64 Route shape 65 Route measurement point

Claims (1)

  1. In a GPS device with a monitoring means composed of a GPS receiver installed in a moving body, a route information storage unit, and a calculation unit,
    (A) the GPS receiver receives a GPS signal;
    (B) The route information storage unit stores the shape of the route in a three-dimensional space,
    (C) The calculation unit obtains a geometric accuracy reduction rate based on data from the GPS receiver and the route information storage unit, and monitors the decrease in accuracy.
    (D) The GPS receiver receives a signal from a GPS satellite and outputs a current position and a position of each GPS satellite used for positioning, and the route information storage unit displays the positioning position output from the GPS receiver. Input, and output the route shape near the positioning position, the calculation unit inputs the position and positioning position of the GPS satellite from the GPS receiver, and the route shape near the positioning position from the route information storage unit, GPS On the straight line passing between the GPS satellites from the positioning position obtained for each satellite, the plane perpendicular to the straight line passing through the point corresponding to the predetermined reference error of the measurement distance before and after the positioning position is obtained, and the route shape near the positioning position The section on the route surrounded by the plane is determined, and several warning ranks are set with the length of the section length as the geometric accuracy reduction rate value on the route. Police GPS device with monitoring means, characterized by monitoring whether there rank.
JP13795699A 1999-05-19 1999-05-19 GPS device with monitoring means Expired - Fee Related JP3970473B2 (en)

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US7110882B2 (en) * 2003-07-07 2006-09-19 Robert Bosch Gmbh Method for improving GPS integrity and detecting multipath interference using inertial navigation sensors and a network of mobile receivers
IL169408A (en) * 2004-06-28 2010-02-17 Northrop Grumman Corp System for navigation redundancy
JP4822250B2 (en) * 2005-06-22 2011-11-24 北海道ジェイ・アール・サイバネット株式会社 Current location kilometer indexing device and program
JP4755614B2 (en) * 2007-02-14 2011-08-24 株式会社リコー Imaging apparatus and imaging method
JP2008253034A (en) * 2007-03-30 2008-10-16 Daido Signal Co Ltd Train control device
JP4912940B2 (en) * 2007-03-30 2012-04-11 大同信号株式会社 Train position abnormality detection system
JP4912939B2 (en) * 2007-03-30 2012-04-11 大同信号株式会社 Train position abnormality detection system
KR101051769B1 (en) 2008-06-30 2011-07-25 김기영 Multiple PS type Displacement Monitoring System and Signal Processing Method
JP5398500B2 (en) * 2009-12-10 2014-01-29 株式会社京三製作所 Train control device
JP5005049B2 (en) * 2010-01-20 2012-08-22 株式会社京三製作所 Train control device, interlock device, and train control method
KR101877562B1 (en) * 2011-10-07 2018-08-10 한국전자통신연구원 Apparatus and method for monitoring gps satellite fault
TWI449940B (en) * 2012-09-07 2014-08-21 Accton Technology Corp Positioning unit and method thereof
JP6017984B2 (en) * 2013-02-05 2016-11-02 公益財団法人鉄道総合技術研究所 Vehicle position measuring method and vehicle position measuring system
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KR101503001B1 (en) 2014-01-28 2015-03-18 건국대학교 산학협력단 System and method for determining fault of gnss using estimated value of baseline length and ground facility antenna of multiple gnss
AU2015379346B2 (en) * 2015-01-29 2019-02-14 Mitsubishi Electric Corporation Positioning apparatus and positioning method
JP2017015400A (en) * 2015-06-26 2017-01-19 アイサンテクノロジー株式会社 System and method for detecting electric wave interference and positioning system
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