JP4331627B2 - Positioning system and navigation device - Google Patents

Description

  The present invention relates to a positioning system, a navigation device, and a portable terminal that are improved in positioning by a navigation device equipped with a GPS receiver.

  The GPS (Global Positioning System) is composed of all 24 GPS satellites managed and operated by the US Department of Defense and GPS receivers mounted on ground control centers and general ships, aircrafts, automobiles and the like. GPS satellites transmit two types of data called almanac data and ephemeris data. The almanac data is orbit information regarding all satellites in the orbit, and the ephemeris data is accurate position information of one GPS satellite and time information when a signal is emitted. Once acquired, almanac data is valid for about a week, and the ephemeris data is valid for several hours.

  The GPS receiver selects the satellite to be used for positioning based on the almanac data, obtains accurate time information based on the ephemeris data received from the selected satellite, and sets the clock inside the receiver to the GPS satellite clock and nanometer. Synchronize in seconds. The GPS receiver receives the signal transmitted from the GPS satellite, detects the propagation time of the signal, and calculates the distance to the GPS receiver by multiplying the detected propagation time by the speed of light. If the coordinates of the current position to be obtained are (X, Y, Z) and the time possessed by the GPS satellite itself is T, there are four unknowns. The two-dimensional current position excluding the altitude Z can be calculated by obtaining the distance to the GPS satellite. If information is obtained from another GPS satellite, more accurate positioning can be performed.

  There are three types of operations when the GPS receiver is activated: warm start, cold start, and search the sky (initialization operation). The warm start is an operation when there is almanac data and ephemeris data that can be used at the time of activation, and the time required for the initial positioning in this case is about 15 seconds. The cold start is an operation when there is almanac data available at the time of activation but no ephemeris data, and the time required for the initial positioning in this case is about 1 minute. Search the sky is an operation when there is no almanac data or ephemeris data available at the time of activation, and the time required for initial positioning in this case is 5 minutes or more.

  A navigation device mounted on an automobile or a ship includes a GPS receiver, and displays a current position detected by the GPS receiver on a monitor or the like. FIG. 5 is a flowchart showing the operation of the car navigation device, which is a kind of navigation device. The operation of the conventional car navigation apparatus will be described with reference to this figure. First, the car navigation device is powered on (step S501).

  Subsequently, the car navigation device selects a GPS satellite to search based on the almanac data and the time indicated by the clock inside the car navigation device when the almanac data exists, and is preset when the almanac data does not exist. GPS satellites are selected in order according to the algorithm (step S502). Subsequently, the car navigation device searches for the selected GPS satellite (step S503), and determines whether the selected GPS satellite has been searched (step S504). If the search has not been completed, the process returns to step S502. When the GPS satellite can be searched, the car navigation device synchronizes the internal clock with the GPS satellite clock and receives information necessary for positioning from the GPS satellite (step S505).

  Subsequently, the car navigation device determines whether to search for another GPS satellite (step S506). When searching for other GPS satellites, the process proceeds to step S502. On the other hand, when not searching for other GPS satellites, the car navigation device calculates the distance to the GPS satellites using the propagation time of the information received from the GPS satellites, and based on the distances to the plurality of GPS satellites, The coordinates of the current position are calculated (step S507). Subsequently, the car navigation device displays a map including the current position on the monitor (step S508).

  In the above description, the search the sky is set when there is no almanac data. However, some car navigation apparatuses are set to be the search the sky even in the following cases. For example, the clock inside the car navigation device may be completely crazy, or the GPS satellite may be intentionally disabled due to a failure, maintenance, or the outbreak of a war, and an unsteady flag may be set on the GPS satellite. . Also, a timeout (for example, about 20 days) is set according to the elapsed time from the previous use indicated by the usage history, and when the timeout occurs, the almanac data is not used and search the sky is automatically performed. There are also things.

In recent years, car navigation devices equipped with mobile terminals have appeared, and mobile terminals are used for updating map data and main unit firmware, but they are not used as input means for information required for initial positioning. . Patent Document 1 describes a portable communication terminal that has a GPS receiver and can transmit position information obtained from the GPS receiver to the outside.
JP 2002-335551 A

  As described above, the navigation device including the conventional car navigation device requires time of 5 minutes or more for the initial positioning at the time of search the sky. This is because almanac data does not exist at the time of search the sky, and the search for GPS satellites is not performed efficiently. Even if almanac data exists, if the current position is greatly different from the position at the time when the almanac data is acquired, the search for GPS satellites is not performed efficiently. Therefore, when the navigation device is delivered to an automobile or ship, when a long time has passed since the power was turned off, or when the positioning position is significantly different before the power is turned off There was a problem that initial positioning took a very long time. In addition, if an automobile or the like starts moving at a high speed before the end of the initial positioning, fluctuations in the Doppler frequency received from the GPS satellite will increase, and it will take more time to search for the GPS satellite.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a positioning system, a navigation device, and a portable terminal that can reduce the time required for initial positioning.

The present invention has been made to solve the above-described problem, and calculates a current position based on information received from GPS satellites searched based on orbit information, and displays a map indicating the current position. In the positioning system comprising a portable terminal that is connectable to the navigation device and stores position information calculated based on information received from a GPS satellite or information received from a base station, the navigation device comprises: The first search means for searching for GPS satellites based on the orbit information, and satellite information and almanac data in which the area information and information on the orbit of the GPS satellite passing over the area are related are stored in advance. When the search by the storage means and the first search means at the time of activation fails, a reception request is sent to the portable terminal. The position in the case where the first transmitting means, first receiving means for receiving location information from the mobile terminal which has received the receive request, the location information in said first receiving means is received to Searching for a GPS satellite based on the information and the satellite information, and searching for the GPS satellite based on orbit information of the almanac data stored in the storage means when the portable terminal is not connected A second receiving means for receiving the reception request; and a second transmitting means for transmitting the position information to the navigation device when the reception request is received. It is a positioning system characterized by comprising.
In addition, when the navigation device determines that the mobile terminal is not connected when the search by the first search means fails at startup, the navigation device displays a connection instruction for the mobile terminal. It is desirable to further comprise.

  Further, the navigation device further receives a measurement means for measuring a current position based on an output of the autonomous navigation sensor, a current position on the displayed map, and a GPS satellite searched by the first search means. Calculating means for calculating a difference from the first position calculated based on the information obtained, and when the difference calculated by the calculating means is a predetermined amount or more and the mobile terminal is not connected A second display means for displaying a connection instruction of the mobile terminal; a position indicated by the position information received by the first receiving means; a second position measured by the measuring means; It is desirable to provide correction means for correcting the current position on the map based on the position of 1.

The present invention calculates a current position based on information received from a GPS satellite searched based on orbit information, and searches for a GPS satellite based on the orbit information in a navigation device that displays a map indicating the current position. First search means; storage means for storing in advance satellite information and almanac data in which area information and information on the orbits of GPS satellites passing over the area are associated; and the first search means at startup A first transmission means for transmitting a reception request to a portable terminal that stores position information calculated based on information received from a GPS satellite or information received from a base station, and the reception request first receiving means for receiving location information from the mobile terminal which has received, the if the location information in said first receiving means is received Explore the GPS satellites based on said satellite information and location information, the second of searching for GPS satellites on the basis of the orbit information of the almanac data when said portable terminal is not connected, which is stored in the storage means And a search means.

The navigation device further includes a first display for displaying a connection instruction for the portable terminal when it is determined that the portable terminal is not connected when the search by the first search means fails at the time of activation. It is desirable to further comprise means .

Further, the navigation device further receives a measurement means for measuring a current position based on an output of the autonomous navigation sensor, a current position on the displayed map, and a GPS satellite searched by the first search means. Calculating means for calculating a difference from the first position calculated based on the information obtained, and when the difference calculated by the calculating means is a predetermined amount or more and the mobile terminal is not connected A second display means for displaying a connection instruction of the mobile terminal; a position indicated by the position information received by the first receiving means; a second position measured by the measuring means; It is desirable to further comprise correction means for correcting the current position on the map based on the position of 1.

  According to the present invention, since position information is received from a mobile terminal equipped with a GPS receiver, and a GPS satellite to be searched is selected based on the position information, the time required for initial positioning of the navigation device is reduced. The effect that it can shorten is acquired.

  The best mode for carrying out the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a positioning system according to an embodiment of the present invention. In the present embodiment, a car navigation device which is a kind of navigation device will be described as an example. In the figure, reference numeral 1 denotes a car navigation device. A mobile terminal 2 is connected to the car navigation apparatus 1 via the cable 100. The portable terminal 2 can be attached to and detached from the cable 100. The mobile terminal 2 is a mobile phone, a PHS (Personal Handyphone System), a PDA (Personal Digital Assistance), and the like, and any model can be used as long as it has a GPS receiver and a communication function with the outside. A base station 3 is connected to the network 4. The base station 3 has a GPS antenna, and receives accurate time information from GPS satellites.

  A server 5 is connected to the base station 3 via the network 4 and has information corresponding to almanac data together with accurate time information. The server 5 can acquire such information from GPS satellites by a GPS receiver included therein. The server 5 knows the terminal for which the position is registered and its position, and can predict the GPS satellite that should appear above each terminal by calculation based on the information acquired from the GPS satellite. The result is transmitted to each terminal via the base station 3. Based on the prediction result, each terminal searches for a GPS satellite.

  FIG. 2 is a block diagram showing configurations of the car navigation apparatus 1 and the portable terminal 2. In the car navigation apparatus 1, reference numeral 11 denotes a GPS antenna, which receives information transmitted from a GPS satellite. Reference numeral 12 denotes a key input unit that receives an operation by the user and outputs the operation result to the control unit 17. A display unit 13 displays a map including the current position based on the display data output by the control unit 17.

  Reference numeral 14 denotes an autonomous navigation sensor unit, which includes an azimuth sensor and a vehicle speed sensor. A storage unit 15 stores almanac data, ephemeris data, map data, and the like. The storage unit 15 stores in advance satellite information in which area information including latitude and longitude as information and orbit information of GPS satellites are associated with each other. When a certain point is specified by the regional information, candidates of GPS satellites that pass over the sky at a specific time at that point can be narrowed down by orbit information from all GPS satellites. The satellite information list may be updated when a new GPS satellite is launched.

  Reference numeral 16 denotes an external interface, which transmits and receives information to and from the portable terminal 2 via the external interface 26 of the portable terminal 2. The external interface 16 of the car navigation device 1 and the external interface 26 of the portable terminal 2 are connected by a cable 100 in FIG. This cable can be attached to and detached from the external interface 16 and the external interface 26. The control unit 17 controls each unit in the car navigation apparatus 1.

  In the portable terminal 2, reference numeral 21 denotes a GPS antenna, which receives information transmitted from a GPS satellite. An antenna 22 performs communication by a CDMA (Code Division Multiple Access) system or the like. Reference numeral 23 denotes a display unit that displays a result of an input operation by the user, a state of the mobile terminal 2, and the like. Reference numeral 24 denotes a storage unit that stores information received by the GPS antenna 21 and position information received from the server 5. A key operation unit 25 outputs an operation result to the control unit 27 when an input operation is performed by the user. An external interface 26 transmits / receives information to / from the car navigation apparatus 1 via the external interface 16 of the car navigation apparatus 1. The control unit 27 controls each unit in the mobile terminal 2.

  The car navigation device 1 receives information transmitted from a GPS satellite at a predetermined cycle, and calculates the current position based on the information. The car navigation device 1 calculates the current position based on the output of the autonomous navigation sensor unit 14 after receiving information from the GPS satellite at a certain point in time until receiving information from the GPS satellite next time. The autonomous navigation sensor unit 14 detects the direction and the vehicle speed, and outputs the detection result to the control unit 17. Based on the detection result, the control unit 17 calculates the travel locus of the vehicle, and calculates the current position based on this. The control unit 17 stores the calculated current position in the storage unit 15 and outputs display data in which the vehicle position on the map is updated to the display unit 13. The display unit 13 displays a map in which the vehicle position is updated based on the display data.

  A conventional navigation device has a function called map matching, and the car navigation device 1 also performs map matching. Map matching is a technique for matching the position of the vehicle on the road when the vehicle position calculated by autonomous navigation is not on the road in the map data.

  Next, the operation of the positioning system according to the present embodiment will be described. In the present embodiment, if the satellite search is not successfully performed in the initial positioning at the time of starting the car navigation device 1, the car navigation device 1 receives the position information from the portable terminal 2, and uses the position information to perform GPS. Search for satellites. FIG. 3 is a flowchart showing the operation of the car navigation apparatus 1.

  When the power of the car navigation device 1 is turned on (step S301), the control unit 17 determines whether the signal from the portable terminal 2 is input to the external interface 16 to determine whether the portable terminal 2 is connected. Determination is made (step S302). If the portable terminal 2 is connected, the process proceeds to step S403 in FIG. When the mobile terminal 2 is not connected, the control unit 17 outputs display data for instructing the user to connect the mobile terminal 2 to the display unit 13. The display unit 13 displays characters and the like for instructing the user to connect the mobile terminal 2 based on the display data (step S303).

  Subsequently, the control unit 17 determines whether or not a signal from the portable terminal 2 is input to the external interface 16 within a predetermined time after the connection instruction of the portable terminal 2 is displayed on the display unit 13 (step S304). . When the mobile terminal 2 is connected, the control unit 17 outputs a position information reception request to the mobile terminal 2 via the external interface 16, and the process proceeds to step S403 in FIG. If the portable terminal 2 is not connected, the process proceeds to step S305. In step S305, the control unit 17 selects a satellite to be searched.

  The satellite selection method is as follows. When the position information can be received from the portable terminal 2 at the time of activation, the control unit 17 reads out the satellite information from the storage unit 15 and refers to the current position based on the position information acquired from the portable terminal 2 and the current time. A GPS satellite that can be searched for is selected. If the portable terminal 2 is not connected at the time of activation, the control unit 17 reads almanac data from the storage unit 15 and selects a GPS satellite to be searched based on the almanac data.

  In the positioning after the initial positioning at the time of startup, when the position information can be received from the mobile terminal 2, the control unit 17 determines the current time based on the satellite information and the position information acquired from the mobile terminal 2. Select a searchable GPS satellite. Further, when the position information cannot be received from the portable terminal 2, the control unit 17 selects a GPS satellite based on the almanac data in the storage unit 15. If the almanac data cannot be used due to destruction of the almanac data, the control unit 17 sequentially selects the required number of GPS satellites from the head of the satellite number. The control unit 17 refers to the update time of the almanac data, and displays data for instructing connection of the portable terminal 2 to the display unit 13 when the elapsed time from the last update time is equal to or longer than a predetermined time. You may make it output.

  Subsequently, the control unit 17 searches for the selected GPS satellite (step S306) and determines whether a signal can be received from the selected GPS satellite within a predetermined time (whether the GPS satellite can be searched). (Step S307). This predetermined time may be about several seconds. If the signal cannot be received from the GPS satellite within a predetermined time, the search for the GPS satellite has failed, and the process proceeds to step S303. On the other hand, if the signal can be received from the GPS satellite within a predetermined time, the search for the GPS satellite has succeeded, and the control unit 17 synchronizes the internal clock with the GPS satellite clock, Information necessary for positioning is received (step S308). Thereafter, the control unit 17 continues to track the captured GPS satellite. Subsequently, the control unit 17 determines whether to search for other GPS satellites (step S309). When searching for other GPS satellites, the process proceeds to step S305.

  On the other hand, when not searching for other GPS satellites, the control unit 17 calculates the distance to the GPS satellites using the propagation time of the information received from the GPS satellites, and based on the distances to the plurality of GPS satellites, The coordinates of the position are calculated (step S310). Subsequently, the control unit 17 reads the current position calculated by the autonomous navigation from the storage unit 15, and the difference between the current position calculated based on the information received from the GPS satellite and the current position calculated by the autonomous navigation is a predetermined amount or more. Is determined (step S311).

  If the difference between the two current positions is greater than or equal to the predetermined amount, the process proceeds to step S302. When the difference between the two current positions is less than the predetermined amount, the control unit 17 updates the vehicle position on the map data, converts the map data into display data, and outputs the display data to the display unit 13. The display unit 13 displays a map in which the vehicle position is updated based on the display data (step S312). Subsequently, the control unit 17 determines whether a signal can be received from the captured GPS satellite (step S313). If the signal can be received, the captured GPS satellite has been tracked, the process proceeds to step S308, and information is received from the GPS satellite. On the other hand, if the signal cannot be received, tracking of the captured GPS satellite has failed, and the process proceeds to step S306 to search for the GPS satellite again.

  Next, the operation of the mobile terminal 2 according to the present embodiment will be described. The portable terminal 2 cannot perform autonomous positioning in terms of processing capability and available power. Therefore, the portable terminal 2 acquires position information and time information as follows. When a radio wave from a GPS satellite reaches the mobile terminal 2, the mobile terminal 2 transmits information received from the GPS satellite to the base station 3. The base station 3 receives this and transmits it to the server 5 via the network 4. The server 5 calculates the propagation time of the information transmitted from the GPS satellite to the portable terminal 2 based on the time information held by itself and the information received from the portable terminal 2, and the GPS satellite and the portable terminal 2 from the obtained propagation time. The distance between is calculated. Similarly, the server 5 receives information on a plurality of GPS satellites from the mobile terminal 2, calculates the distance between each GPS satellite and the mobile terminal 2, and obtains accurate position information of the mobile terminal 2. The mobile terminal 2 receives this position information from the server 5 via the base station 3.

  Further, when the radio wave from the GPS satellite does not reach the mobile terminal 2, the operation is as follows. The base station 3 acquires information from GPS satellites and has information on its exact position and time. The mobile terminal 2 receives information from the plurality of base stations 3 and notifies the server 5 of the propagation time of this information. The server 5 calculates the distance between the base station 3 and the mobile terminal 2 based on the propagation time notified by the mobile terminal 2, and obtains accurate position information of the mobile terminal 2 based on the position information of the base station 3. . The mobile terminal 2 receives this position information from the server 5 via the base station 3.

  The operations of the mobile terminal 2, the base station 3, and the server 5 from when the mobile terminal 2 receives information from the GPS satellite to when the mobile terminal 2 receives the position information from the server 5 are the same as those in the prior art. In the future, it is expected that mobile terminals capable of autonomous positioning will appear and become mainstream of mobile terminals equipped with GPS receivers. If the mobile terminal 2 can perform autonomous positioning, the server 5 There is no need to provide. In addition, although the positional information which the portable terminal 2 acquires is positional information which consists of latitude and longitude, you may include altitude further in this. Further, the mobile terminal 2 may transmit the time information acquired from the server 5 to the car navigation device 1 in addition to the position information.

  FIG. 4 is a flowchart showing the operation of the mobile terminal 2. When the mobile terminal 2 is powered on (step S401), the mobile terminal 2 connects to the base station 3 and performs location registration (step S402). Information on the registered position is transmitted from the base station 3 to the server 5 via the network 4, and the server 5 holds this information. Subsequently, the control unit 27 determines whether or not a reception request has been received from the car navigation apparatus 1 via the external interface 26 (step S403). When it determines with No in step S403, the control part 27 performs determination in step S403 again. On the other hand, when it determines with Yes, the control part 27 determines whether the reception intensity | strength of the signal (pilot signal) from the base station 3 received by the antenna 22 is more than predetermined amount (step S404).

  If the reception intensity of the signal from the base station 3 is less than the predetermined amount, the mobile terminal 2 is located outside the base station 3 and the process proceeds to step S305 in FIG. When the received intensity of the signal from the base station 3 is a predetermined amount or more, the mobile terminal 2 is connected to the server 5 via the base station 3 and the network 4, and the location information of the mobile terminal 2 is transmitted to the server 5. A request is made (step S405). Based on this request, the server 5 transmits the position information to the portable terminal 2 via the network 4 and the base station 3.

  Subsequently, the control unit 27 determines whether or not the position information from the server 5 has been received via the antenna 22 (step S406). If the position information cannot be received, the process proceeds to step S305 in FIG. On the other hand, when the position information can be received, the control unit 27 transmits the position information to the car navigation apparatus 1 via the external interface 26 (step S407), and the process proceeds to step S305 in FIG.

  In the present embodiment, when the search the sky where there is no almanac data or ephemeris data that can be used at the time of start-up and the mobile terminal 2 is not connected, the car navigation device 1 is required from the head of the satellite number. GPS satellites are selected in order to search for GPS satellites (step S305 in FIG. 3). In this case, it is determined No in step S307 in FIG. 3, and the car navigation device 1 displays a connection instruction for the portable terminal 2 (step S303 in FIG. 3). Here, when the mobile terminal 2 is connected, the car navigation device 1 requests the mobile terminal 2 to receive position information.

  Based on this, the portable terminal 2 receives the position information from the server 5 and transmits the position information to the car navigation device 1 (step S407 in FIG. 4). The car navigation device 1 receives the position information from the portable terminal 2, and selects a GPS satellite that can be searched at the current time based on the position information and the satellite information in the storage unit 15 (step S305 in FIG. 3). With the above operation, even during search the sky, it is possible to receive position information from the portable terminal 2 and select a GPS satellite to be searched based on the position information. As a result, the GPS satellite search time can be shortened, and the time required for initial positioning can be greatly shortened. Even when the mobile terminal 2 is connected at the time of activation, the time required for the initial positioning can be significantly shortened by the same operation as described above.

  Generally, the current position calculated by autonomous navigation includes an error, and the error is accumulated every time measurement is repeated. Further, the current position calculated based on the information received from the GPS satellite may include an error of about 50 m. When it is determined Yes in step S311, it cannot be determined which of the current position calculated by autonomous navigation and the current position calculated based on information received from the GPS satellite is closer to the actual current position. Therefore, in such a case, the car navigation device 1 receives the position information from the mobile terminal 2 and corrects the current position in consideration of the position indicated by the position information. Further, when the vehicle position does not exist on the road in the map, the car navigation device 1 performs map matching.

  When it determines with Yes in step S311, a process progresses to step S302 and it is determined whether the portable terminal 2 is connected. If the mobile terminal 2 is connected or if the mobile terminal 2 is connected after the connection instruction of the mobile terminal 2 is displayed even though it is not connected, the process proceeds to step S403 in FIG. If it is within the range where positioning is possible, the portable terminal 2 connects to the server 5, and if the position information can be received from the server 5, the position information is transmitted to the car navigation device 1.

  In the car navigation device 1, the control unit 17 corrects the current position based on the position indicated by the received position information, the position calculated by autonomous navigation, and the position calculated based on the information received from the GPS satellite. . For example, there is a method of correcting the current position by prioritizing the position indicated by the position information received from the mobile terminal 2 and the position calculated based on the information received from the GPS satellite over the position calculated by autonomous navigation. It is done.

  Further, the weighting for the position obtained by the above three methods may be freely changed. For example, in urban areas where there are many buildings in the surrounding area, radio waves from GPS satellites are scattered by the buildings, and the signal reception state (signal S / N ratio, etc.) deteriorates. Increase the priority of the position measured by navigation. On the other hand, in the suburbs of the city where the surrounding view is good, the signal reception state is improved. In such a case, the position indicated by the position information received from the mobile terminal 2 or the information received from the GPS satellite The priority of the position calculated based on this is raised.

  As described above, the embodiments of the present invention have been described in detail with reference to the drawings, but the specific configuration is not limited to these embodiments, and includes design changes and the like within a scope not departing from the gist of the present invention. It is.

It is a block diagram which shows the structure of the positioning system by one Embodiment of this invention. It is a block diagram which shows the structure of the car navigation apparatus 1 and the portable terminal 2 by the embodiment. It is a flowchart which shows operation | movement of the car navigation apparatus 1 by the embodiment. It is a flowchart which shows operation | movement of the portable terminal 2 by the embodiment. It is a flowchart which shows operation | movement of the conventional car navigation apparatus.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Car navigation apparatus, 2 ... Portable terminal, 3 ... Base station, 4 ... Network, 5 ... Server, 11, 22 ... Antenna, 12 ... Key input part, DESCRIPTION OF SYMBOLS 13,23 ... Display part, 14 ... Autonomous navigation sensor part, 15, 24 ... Memory | storage part, 16, 26 ... External interface, 17, 27 ... Control part, 21 ... GPS Antenna, 25... Key operation unit.

Claims (6)

A navigation device that calculates a current position based on information received from a GPS satellite searched based on orbit information, and displays a map indicating the current position, and is connectable to the navigation device and is received from the GPS satellite In a positioning system comprising a portable terminal that stores position information calculated based on information to be received or information received from a base station,
The navigation device includes:
First search means for searching for GPS satellites based on the orbit information;
Storage means for storing in advance satellite information and almanac data in which area information and information on the orbit of a GPS satellite passing over the area are associated;
A first transmission unit that transmits a reception request to the portable terminal when a search by the first search unit fails at startup;
First receiving means for receiving position information from the mobile terminal that has received the reception request;
Wherein when the location information in the first receiving means has been received by searching the GPS satellite based on said satellite information and the position information, in said storage means when said portable terminal is not connected Second search means for searching for a GPS satellite based on orbit information of the stored almanac data ;
Comprising
The portable terminal is
Second receiving means for receiving the reception request;
Second transmission means for transmitting the position information to the navigation device when the reception request is received;
A positioning system comprising: The navigation device includes:
In the case where the search by the first search means fails at the time of activation, the apparatus further comprises a first display means for displaying a connection instruction of the mobile terminal when it is determined that the mobile terminal is not connected. The positioning system according to claim 1. The navigation device further includes
Measuring means for measuring the current position based on the output of the autonomous navigation sensor;
Calculating means for calculating a difference between a current position on the displayed map and a first position calculated based on information received from a GPS satellite searched by the first searching means;
A second display means for displaying a connection instruction of the mobile terminal when the difference calculated by the calculation means is a predetermined amount or more and the mobile terminal is not connected;
The current position on the map is corrected based on the position indicated by the position information received by the first receiving means, the second position measured by the measuring means, and the first position. Correction means;
The positioning system according to claim 2, further comprising: In a navigation device that calculates a current position based on information received from GPS satellites searched based on orbit information and displays a map indicating the current position.
First search means for searching for GPS satellites based on the orbit information;
Storage means for storing in advance satellite information and almanac data in which area information and information on the orbit of a GPS satellite passing over the area are associated;
When the search by the first search means fails at the time of start-up, a reception request is transmitted to a mobile terminal that stores information received from GPS satellites or position information calculated based on information received from a base station. A transmission means;
First receiving means for receiving position information from the mobile terminal that has received the reception request;
Wherein when the location information in the first receiving means has been received by searching the GPS satellite based on said satellite information and the position information, in said storage means when said portable terminal is not connected Second search means for searching for a GPS satellite based on orbit information of the stored almanac data ;
A navigation device comprising: In the case where the search by the first search means fails at the time of activation, the apparatus further comprises a first display means for displaying a connection instruction of the mobile terminal when it is determined that the mobile terminal is not connected. The navigation device according to claim 4. Measuring means for measuring the current position based on the output of the autonomous navigation sensor;
Calculating means for calculating a difference between a current position on the displayed map and a first position calculated based on information received from a GPS satellite searched by the first searching means;
A second display means for displaying a connection instruction of the mobile terminal when the difference calculated by the calculation means is a predetermined amount or more and the mobile terminal is not connected;
The current position on the map is corrected based on the position indicated by the position information received by the first receiving means, the second position measured by the measuring means, and the first position. Correction means;
The navigation device according to claim 5, further comprising:

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