JP5983947B2 - Positioning terminal and precision single positioning method - Google Patents

Description

  The present invention relates to a positioning terminal and a precise single positioning method that can accurately perform positioning at an arbitrary point using a signal wave received from an artificial satellite.

In recent years, the position coordinates of many points are measured using a satellite navigation system (Global Navigation Satellite System).
In typical GPS (Global Positioning System), position coordinates of a GPS receiver (positioning terminal) are measured using a plurality of GPS signal waves transmitted from a plurality of GPS satellites (Nabster).

The positioning method using the GPS signal can measure the current position (the position of the GPS terminal) by the apparatus alone in almost real time with an accuracy of about 10 m by various research and development. This real-time positioning uses a signal relating to a broadcast calendar from a GPS satellite.
In addition, as a method for improving the positioning accuracy, there are a positioning method using a precise calendar and a positioning method in which a plurality of devices are linked. The precision calendar, for example, obtains a precise navigation path of the satellite orbit by IGS (International GNSS Service) and uses the precision calendar indicating the navigation path, but the positioning accuracy can be increased to about 10 cm although real-time measurement is not possible.

  For example, Patent Literatures 1 to 3 and Non-Patent Literature 1 describe techniques related to the broadcast calendar and the precision calendar.

  Patent Document 1 discloses a GPS positioning system that performs highly accurate positioning using the last calendar managed by IGS. It also explains the breaking calendar and the final calendar.

  Patent Document 2 also discloses a GPS positioning system that performs highly accurate positioning using the last calendar managed by IGS. In this system, data collection at the same point for about 24 hours is required for surveying, and positioning accuracy of cm order is obtained.

  Patent Document 3 describes a GPS positioning system that performs high-precision positioning by linking a plurality of GPS receivers. In addition, one method for correcting by two-frequency reception for surveying is described.

  Non-Patent Document 1 discloses a GPS positioning system that performs highly accurate positioning using the last calendar managed by IGS. Further, correction information (ionosphere electron distribution data) relating to ionospheric delay is received from the outside, and the correction process based on the Klobuchar model is changed to a correction process based on GIM data (Global Ionosphere Map Data: ionospheric electron distribution data).

Japanese Patent No. 3508655 JP 2001-133536 A Japanese Patent No. 4757068

Nobuaki Kubo, Susumu Yoshitomi, Mikio Sawabe, Satoshi Kogure, Tsuyoshi Ono, Tomoya Shibata, Tomoe Uraya, Improvement of Positioning Performance by Modernized Positioning Signal, 50th Space Science and Technology Union Lecture Presentation, November 10, 2006

  Improving measurement accuracy is a universal issue in positioning systems. By improving the positioning accuracy, there are beneficial effects for many services. Examples of services include navigation services, current position display services, tracking services, security services, game services, and services that are a combination of these services. In these services, more accurate location information is required.

  As described above, a precision calendar can be used to increase positioning accuracy. On the other hand, it is impossible to obtain a precise calendar immediately. This is to calculate an accurate satellite orbit after navigation signals from the satellite are received and accumulated in various parts of the world. It still takes about 3 days to be released. For this reason, the precise calendar cannot be used for positioning that requires real-time performance. In other words, positioning using a precise calendar cannot be used for many services that require real-time performance.

  On the other hand, in the positioning method having real-time characteristics, the broadcast calendar is used as described above. Various researchers are conducting research on positioning with good accuracy in real time using the broadcast calendar.

  In one of these accuracy improvement methods, a reinforcement method using correction information using a quasi-zenith satellite or a geostationary satellite has been studied. As a positioning augmentation service, an error of an existing positioning system such as GPS is broadcast to a positioning terminal as a reinforcement signal (correction information) via another satellite (such as a quasi-zenith satellite or a geostationary satellite). The positioning terminal performs positioning with high accuracy based on the positioning signal.

  By using a plurality of quasi-zenith satellites, there is an advantage that a high elevation angle can be secured at all times as compared to using a geostationary satellite. For this reason, positioning terminals (cars, mobile phones, GPS devices, ships, agricultural machinery, mining equipment, etc.) are more accurate (such as correction information, acquisition support information, integrity information, etc.) about satellites that make up existing positioning systems ( For example, it can be received without being affected by a shield such as a building).

In Japan, the satellite “MICHIBIKI” has been launched as a quasi-zenith satellite system and preparations are underway to start a positioning augmentation service along with other services.
The positioning reinforcement service scheduled here is explained.
Satellite Michibiki periodically inserts useful correction information into the broadcast signal according to the type of information, and broadcasts it in the ground direction as an L1-SAIF signal (reinforcement signal). In this L1-SAIF signal, information of 32 satellites (such as GPS satellites) is inserted in a 6-second cycle with a signal having a fast cycle.

Information included in the L1-SAIF signal includes correction information, capture support information, integrity information, and the like.
The correction information includes error information such as the time / orbit of each satellite and the ionospheric delay of each region. By using this correction information by the positioning terminal, the measurement value of the existing broadcast calendar can be corrected. The plan is to obtain a positioning accuracy of about 1 m by adding this correction.

  In the acquisition support information, the orbit of each satellite is distributed. By using this acquisition support information by the positioning terminal, satellite acquisition can be shortened to several seconds.

  In the integrity information, information on the operational soundness of the satellites used is distributed. By using the integrity signal by the positioning terminal, it is possible to stop using the signal transmitted from the failed satellite.

  In Japan, such a useful reinforcement signal is broadcast using a quasi-zenith satellite. In other countries, a service for broadcasting a similar reinforcement signal is provided (for example, WAAS and EGNOS). The positioning terminal is being researched and developed to perform high-precision positioning in real time using navigation signals obtained from existing GNSS using augmentation signals and navigation signals from newly launched satellites. .

  As described above, each country, region, continent, etc. has been developed to achieve highly accurate positioning.

However, the inventor intends to further improve the accuracy of the measurement having the real-time property.
In addition, a highly accurate real-time positioning will be realized using existing positioning satellites.

  In addition, a positioning terminal capable of performing positioning with high accuracy and real-time performance by itself is realized.

The present invention has been made based on the knowledge of the inventor, aims to provide a real-time, that can highly accurate positioning than the existing satellite positioning system positioning terminal, and the precise point positioning method And

Positioning terminal according to the present invention, continuously reinforced with continuously receiving a plurality of navigation signals from a plurality of navigation satellites each broadcasting navigation signals for GNSS, the Quasi-Zenith Satellite broadcasting a reinforcing signal relates to a navigation satellite Correction signal including information on the time and orbit of the navigation satellite included in the received augmentation signal, and information on the ionosphere of the positioning area is stored after being identified, and stored in the identified augmentation signal. Included in the reinforcement signal in the process of improving the positioning accuracy in real time by a single positioning method including multipath correction processing by carrier phase observation that allows movement using correction information obtained from the quasi-zenith satellite While the satellite position and clock error components are corrected based on the navigation satellite time and orbit, Without using the information about the ionosphere contained, it included a step of correction to generate a correction information ionospheric delay component based on the delay difference of the plurality of navigation signals transmitted from said plurality of navigation satellites each, It is characterized in that each time a positioning calculation is performed, the position of the terminal itself is sequentially calculated by a single positioning method based on a plurality of navigation signals corrected individually.

The precise single positioning method by the positioning terminal of the satellite positioning system according to the present invention is such that the positioning terminal continuously receives a plurality of navigation signals from each of a plurality of navigation satellites that broadcast navigation signals for GNSS , and relates to the navigation satellite. continuously receiving the reinforcement signal from a quasi-zenith satellite broadcasting reinforcement signal, time and orbit navigation satellite contained in the reinforcing signal received, and identification processing correction information including information on ionospheric positioning region In the process of improving the positioning accuracy in real time with a single positioning method that includes multipath correction processing by carrier phase observation that allows movement using carrier correction phase information that has been stored and identified and included in the identified reinforcement signal, Correction processing of satellite position and clock error component based on the time and orbit of the navigation satellite included in the reinforcement signal That whereas, without using the information about the ionosphere contained in reinforcing signal, it included a step of correction the ionospheric delay component based on the delay difference of the plurality of navigation signals transmitted from said plurality of navigation satellites each Each time a positioning calculation is performed , the position of the terminal itself is sequentially calculated by a single positioning method based on a plurality of navigation signals individually corrected.

According to the present invention, having a real-time, can provide a positioning device that can highly accurate positioning than the existing satellite positioning systems, and precision point positioning method.

It is a block diagram which shows the satellite positioning system concerning embodiment. It is a block diagram which shows a part of positioning terminal concerning embodiment. It is a block diagram which shows the portable terminal which is a positioning terminal concerning an Example. It is a figure which shows the list of the transmission signals of satellite "Michibiki".

  An embodiment of the present invention will be described with reference to FIGS.

FIG. 1 is a configuration diagram illustrating a satellite positioning system according to an embodiment.
The satellite positioning system includes a positioning terminal 10 that performs positioning, a plurality of navigation satellites 20 that broadcast navigation signals for GNSS, and a reinforcement satellite 30 that broadcasts reinforcement signals related to individual navigation satellites.

  Each navigation satellite 20 broadcasts a multi-frequency navigation signal. As the navigation satellite 20, a commonly used GPS satellite or the like can be used.

The reinforcement satellite 30 broadcasts information including correction information including the time and orbit of each navigation satellite, error information indicating the ionospheric delay in the positioning region, and the like as the reinforcement signal.
Further, the reinforcing satellite 30 may be used as one navigation satellite itself. Note that the description of the support facility of the reinforcement satellite 30 is omitted.
In Japan, the satellite “Michibiki” can be used as a reinforcing satellite according to the present invention. As described above, the satellite “MICHIBIKI” is operated by inserting correction information, capture support information, and integrity information into an L1-SAIF signal that is a reinforcement signal.
The reinforcing satellite 30 is not limited to the quasi-zenith satellite.

The positioning terminal 10 receives a plurality of navigation signals from the respective navigation satellites 20 for positioning. The positioning process is performed using four or more navigation signals.
In addition, navigation signals of at least two frequencies are received from all the navigation satellites 20 used.
In addition, the positioning terminal 10 receives the reinforcement signal from the reinforcement satellite 30 and acquires correction information including error information indicating the time and orbit of the navigation satellite to be used and the ionospheric delay in the positioning area.
At this time, it is desirable to improve real-time positioning (acceleration) and accuracy (improving measurement availability) by using the capture support information and integrity information from the received reinforcement signal. In the present description, detailed description of the positioning process and the correction process using these pieces of information is omitted. Of course, it is desirable to improve the positioning accuracy, the positioning speed, etc. according to desired conditions using such useful information as appropriate.

  The positioning terminal 10 can perform positioning only from a plurality of navigation signals received for position positioning. On the other hand, the positioning using only the navigation signal has a problem that the accuracy is rough and the positioning time is long, so that the reinforcement processing is performed using the received reinforcement signal.

  When the positioning terminal 10 improves the positioning accuracy based on a plurality of navigation signals, the positioning terminal 10 identifies and stores correction information included in the reinforcement signal (preferably also including capture support information and integrity information).

Next, the positioning terminal 10 uses the information about the time and orbit of each navigation satellite (satellite broadcasting satellite) used for positioning from the identified information, and uses the information on the orbit of each satellite and the internal clock (atom). (Clock) error is identified, and satellite position / clock error correction information (position clock correction information) is generated to remove the error factor for positioning.
At the same time as this processing, the positioning terminal 10 performs identification processing on a plurality of navigation signal delay differences received from the individual navigation satellites 20 and generates ionospheric delay component correction information (ionosphere correction information).
Next, the positioning terminal 10 performs distance correction for each navigation signal based on both of the generated correction information.

  After that, the positioning terminal 10 performs a positioning calculation process based on the corrected distance from each navigation satellite 20, and outputs its own terminal position and current time.

As described above, the positioning terminal 10 corrects the ionospheric delay component using the delay differences of the plurality of navigation signals transmitted from the navigation satellite 20 without using the information regarding the ionosphere included in the received reinforcement signal. .
However, the use of information regarding the ionosphere contained in the reinforcement signal is not prohibited.
Information on the ionosphere included in the reinforcement signal may be used as appropriate in order to improve real-time performance or reduce the amount of computation. For example, the positioning terminal 10 performs correction processing of ionospheric delay components of individual navigation signals (rougher accuracy than correction by multiple navigation signals), and sequentially includes a correction result in the reinforcement signal, and calculates multiple navigations from the correction results by error information. Switch to the signal correction results in order, and converge the positioning results.

  Such processing operation to correct the ionospheric delay component is included in the reinforcement signal even when the accuracy of correction by multiple navigation signals is questionable (for example, the numerical value is not general (exceeding the threshold)). Information regarding the ionosphere may be used.

  Similarly, when a plurality of correct navigation signals cannot be acquired from the navigation satellite to be used (for example, when there is a failure report in the integrity information), the processing method may be switched.

  In addition, the positioning terminal 10 performs only one specific correction process on the ionospheric delay component based on the setting of its power saving function such as the remaining battery amount and the allowable power consumption, or both correction processes in parallel. It is also possible to select a power saving method, for example, whether to perform one or the other and then perform the other. As described above, by selecting the correction process based on the setting of the power saving function, the positioning terminal 10 can be driven for a long time.

  Next, the configuration of the positioning terminal 10 is illustrated. Note that each unit of the positioning terminal may be realized by appropriately combining hardware and software.

FIG. 2 is a configuration diagram showing a part of the positioning terminal 10.
The positioning terminal 10 of this embodiment includes a positioning unit 100 shown in the figure. In addition to the positioning unit 100 shown in the figure, the positioning terminal 10 includes an antenna, an input unit, an output unit, a control unit for operating application software, and the like.

  The positioning unit 100 includes a multi-wave signal processing unit 110, a correction unit 120, and a positioning calculation unit 130.

  The multi-wave signal processing unit 110 includes a first frequency signal processing unit 111 to an n-th frequency signal processing unit 11n (n is an integer of 4 or more), and simultaneously from a plurality of navigation satellites 20 and reinforcement satellites 30. It is configured to receive a plurality of GNSS wave signals and obtain a plurality of navigation signals and reinforcement signals. The multi-wave signal processing unit 110 is not limited in configuration as long as the delay difference amount between the multi-wave signals transmitted from one satellite can be extracted.

The correction unit 120 includes the following components, and is configured to receive various types of information from the multiple wave signal processing unit 110 and perform correction processing that improves positioning accuracy based on a plurality of navigation signals using the correction information. The distance measurement data is corrected with higher accuracy.
The positioning reinforcement unit 121 identifies the correction information including the time and orbit of each satellite and information related to the ionosphere included in the received reinforcement signal, and generates each correction information. Desirably, the positioning reinforcement unit 121 performs a satellite acquisition support and soundness ensuring processing operation.
The ionospheric delay multi-frequency correction unit 122 calculates the ionospheric delay component based on the delay difference between the plurality of navigation signals transmitted from each navigation satellite 20 without using the information regarding the ionosphere included in the reinforcement signal. Generate correction information.
The distance correction unit 123 can correct the distance of the distance measurement observation data by using the correction information regarding the ionosphere delay component generated by the ionosphere delay multi-frequency correction unit 122 without using the information regarding the ionosphere included in the reinforcement signal. Configured as follows.

The positioning calculation unit 130 is configured to calculate the position of the terminal itself based on a plurality of ranging observation data (that is, a plurality of navigation signals received from satellites to be used) corrected individually.
The position and time obtained by the positioning calculation unit 130 can be used as required (for example, current time display, current position display, route search, simple surveying, safety confirmation, game event determination, disaster occurrence alert, vehicle automation) Used for driving).

  As described above, according to the present embodiment, it is possible to provide a satellite positioning system that can perform positioning with higher accuracy than an existing satellite positioning system having real-time characteristics.

  Next, an Example is shown and this invention is demonstrated.

In this description, an existing GPS satellite is used as a navigation satellite, and a satellite “MICHIBIKI” is used as a reinforcement satellite.
In addition, according to this structure, the highly accurate positioning which has real-time property can be performed in the circumference | surroundings of Japan and the Oceania area. In the US region, WAAS may be used as a reinforcement satellite for geostationary satellites, and in the European region, EGNOS may be used.
FIG. 3 is a configuration diagram illustrating a mobile terminal 200 that is a positioning terminal.
A mobile terminal 200 shown in FIG. 3 is a mobile terminal having a wireless unit that can receive a mobile communication service. Also, various services are provided to the user by operating hardware such as a CPU based on the application program.

  As shown in the figure, the portable terminal 200 incorporates the positioning unit 100 described above together with a built-in control unit (CPU), ROM, RAM, input / output unit, various sensors, a wireless unit, and the like. The positioning unit 100 may use a built-in GPS antenna as shown in the figure. Of course, an external GPS antenna can also be used.

The mobile terminal 200 (positioning unit 100) receives signals of two frequencies from a number of satellites (GPS satellites, “Michibiki”), and acquires the position and current time of the terminal itself.
The two-frequency signals used in this embodiment are assumed to be the L1 band and the L2 band. More specifically, a GPS signal is used as a navigation signal for GNSS, an L1C / A signal and an L2C signal are used as a plurality of navigation signals, and an L1-SAIF signal is used as a reinforcement signal. Note that the delay difference may be obtained using the L5 band or another frequency band. Further, the L1 band and the L2 band may be added with the L5 band and other frequency bands to compensate using the three frequency bands.

Positioning section 100 of the portable terminal 200, the application (control unit) requests or autonomously depending on from, positioning starts GPS signal wave (L1C / A) a plurality capture. At this time, together with the GPS signal wave (L1C / A), the reinforcement signal (L1-SAFE) broadcast from the satellite “Michibiki” is identified and used for the correction process.

FIG. 4 is a diagram showing a list showing transmission signals of the current satellite “Michibiki”. The satellite “MICHIBIKI” transmits complementary signals and reinforcement signals at a plurality of frequencies as shown in the figure.
In the future, the mobile terminal 200 (positioning unit 100) will use the complementary signal (L1C / A) broadcast from the satellite “Michibiki” and other frequency signals (for example, L2C and L5) to use the navigation satellite ( It is desirable to use it preferentially as one GPS satellite.

Next, an example of processing operation in the mobile terminal 200 will be described.
In the portable terminal 200, the multi-wave signal processing unit 110 appropriately separates the two-frequency navigation signal received via the antenna into a desired signal. At this time, the L1C / A signal and the L2C signal broadcast from three or more GPS satellites and the satellite “MICHIBIKI” are separated. Also, the L1-SAIF signal, which is a reinforcement signal related to each GPS satellite broadcast from the satellite “Michibiki”, which is a reinforcement satellite, is separated. In addition, information used for positioning such as a broadcast calendar is separated from each signal.

  The correction unit 120 receives distance measurement data from the L1C / A signal of each satellite, and performs identification processing of correction information including information on the GPS satellite time and orbit, ionosphere included in the L1-SAIF signal. The identified reinforcement information such as correction information is used appropriately for each application, thereby improving the positioning speed and positioning accuracy. At this time, information regarding the ionosphere included in the L1-SAIF signal is not used in this processing operation.

  In parallel with the processing operation using the reinforcement signal, the correction unit 120 uses the ionosphere in the route from each satellite to the terminal based on the amount of delay difference between the L1C / A signal and the L2C signal received from each satellite. Each of the delay components is extracted and collected as ionospheric delay correction information, and the distance between each satellite and the terminal is corrected.

  The positioning calculation unit 130 calculates the position of its own terminal based on the distance to each satellite that has been individually corrected. Also, the current time is extracted from the navigation signal.

  As described above, when the mobile terminal 200 improves the positioning accuracy using the correction information included in the received L1-SAIF signal, the ionosphere delay component based on the information regarding the ionosphere included in the correction information. These corrections may be performed as appropriate.

  Regarding the correction related to the ionospheric delay component, the correction is made based on the information related to the ionosphere included in the correction information, or the correction is made based on a plurality of frequencies received from individual navigation satellites, or one of them is sequentially switched to the other. The operation system, application program, power supply circuit, power saving circuit, and other hardware and middleware may be appropriately selected based on the degree of convergence of the positioning result, the power saving degree required for the mobile terminal 200, and the like. .

  Here, the real-time precision single positioning in the above configuration example and the general technique of positioning based on the distance between a plurality of navigation satellites will be described.

[Satellite positioning]
The positioning terminal can receive a navigation signal (positioning / ranging signal) broadcast by a navigation satellite such as GPS, and can calculate the distance to each satellite. In satellite positioning, four or more distances from the navigation satellite are acquired, and the position (x, y, x) and time of the positioning terminal are estimated.

There are two general distance calculation methods.
・ Pseudo distance (measurement signal is measured by the spread spectrum code called PRN code and the distance is calculated from the signal propagation time)
P = c (tr−ts) + ε
c: speed of light, tr; observation time (receiver clock), ts: transmission time (satellite clock), ε: error excluding clock
-Carrier phase distance (distance obtained by continuously measuring the carrier phase angle of the navigation signal)
L = λφ, λ: carrier wavelength, φ: carrier phase angle
Since the pseudo distance is measured in code units (one wavelength unit), the accuracy is rough.
Since the carrier phase angle is measured up to the phase angle within one carrier wave, the accuracy is high.

[Error factors in satellite positioning]
The following error factors are included in the distance measurement with the navigation satellite.
・ Satellite position error
・ Satellite clock error
・ Ionospheric delay error
Tropospheric delay error
・ Multipath error
·noise
These can be expressed by the following formula for calculating the distance.
P = ρ + Δρ + c (dt−dT) + I + T + εcn (1)
ρ: true distance, Δρ: satellite position error
c: speed of light, dt: receiver clock error, dT: satellite clock error, ε: observation noise
I: ionospheric delay error, T: tropospheric delay error L = ρ + Δρ + c (dt−dT) + I + T + λN + εLn (2)
λN: Carrier phase bias
As obvious from the above equation, in order to improve positioning accuracy, it is necessary to reduce the influence of error factors.

[Real-time precision single positioning]
In the existing single frequency single positioning, the positioning accuracy is from several meters to several tens of meters due to factors such as poor satellite position / clock accuracy, which is the main error factor, and rough ionospheric delay model. Met.

The L2C signal, which is a consumer signal for the second frequency of GPS, has been improved, and it is possible to receive two frequencies. The amount of ionospheric delay is frequency dependent. For this reason, the amount of delay can be obtained by performing two-frequency reception.
In addition, for multipath, noise, and the like, high accuracy can be achieved by measuring the distance using the carrier phase that enables more accurate observation as an observation amount.
It is necessary to correct the error of the navigation satellite used (orbit) and the internal clock in real time.
As a method for calculating the position and clock of navigation satellites obtained in real time by a general terminal, in addition to the orbit correction information of the L1-SAIF signal broadcast from the quasi-zenith satellite in Japan, to the broadcast calendar broadcast by the L1C / A signal Then, the satellite orbit position and time are specified. In other areas, the same type of reinforcement signal (correction information) broadcast by SBAS may be used.

  In this system, the satellite position / clock is corrected with high accuracy and real-time performance by the correction information in the L1C / A broadcast calendar and L1-SAIF, and the satellite position and time are corrected, and the ionospheric delay is corrected by two-frequency reception. .

  According to this method, tropospheric delay, multipath, etc. are combined with other correction technologies (for example, carrier phase observation effective for noise reduction) to provide highly accurate single positioning of about 30 to 50 cm in mS cycle order. Possible. In addition, by performing ionospheric delay correction by three-frequency reception together with other good correction techniques, it is possible to provide more accurate single positioning in real time.

[Error correction for existing single positioning]
・ Satellite position (Δρ): Broadcast calendar included in L1C / A signal is used (accuracy of about 3m)
-Satellite clock: Correction based on clock correction information included in the L1C / A signal (accuracy of about 10 nS)
・ Ionospheric delay amount: Correction based on the crobacher model included in the L1C / A signal (accuracy of 1 m to 10 m)
・ Tropospheric delay error: Tropospheric delay correction model (accuracy of ~ 0.3m)
・ Multipath / Noise: Reduced estimation filter at the time of positioning calculation (however, realization error is proportional to the amount of input noise)
[Error correction of this method]
・ Satellite position: Broadcast calendar included in L1C / A signal and high-speed correction + long-term correction included in L1-SAIF signal (approx. 30cm together with clock)
・ Satellite clock: Clock correction included in L1C / A signal and high-speed correction + long-term correction included in L1-SAIF signal
・ Ionospheric delay: L2C / A and L2C signals are received at two frequencies, and the ionospheric delay is calculated and corrected based on the propagation time difference using the characteristic that the ionospheric delay is proportional to the frequency (approx. 1 cm)
-Tropospheric delay error: Tropospheric delay correction model + estimation (about 1cm)
・ Multipath / Noise: Calculates the distance to the satellite using the carrier phase as an observation amount (noise reduction) (about 1 cm)
In addition, what is necessary is just to implement | achieve each part of a positioning terminal using the combination of hardware and software. In the form of a combination of hardware and software, the control program according to the present invention is expanded in the RAM, and hardware such as a microcomputer and a control unit (CPU) is operated based on the program to implement each unit as various means. . The program may be recorded in a fixed manner on a storage medium and distributed. The program recorded on the recording medium is read into a memory via a wired, wireless, or recording medium itself, and operates a control unit or the like. Examples of the recording medium include an optical disk, a magnetic disk, a semiconductor memory device, and a hard disk.

  As described in the above embodiment, according to the present invention, it is possible to provide a satellite positioning system, a positioning terminal, and a positioning method that have real-time properties and can perform positioning with higher accuracy than existing satellite positioning systems.

  In addition, the specific configuration of the present invention is not limited to the above-described embodiment, and the present invention can be changed even if there is a change in the scope that does not depart from the gist of the present invention, such as separation / merging of the block configuration, replacement of procedures, include.

  According to the present invention, by combining with other effective correction methods for components other than the ionosphere delay component, it is possible to realize the accuracy of cm order by single positioning. On the other hand, the accuracy of the m order is obtained by combining the correction relating to the ionospheric delay component based on the information regarding the ionosphere included in the reinforcement signal (correction information) and the other effective correction methods other than the ionospheric delay component similar to the above. .

  Further, according to the present invention, it is possible to provide a positioning terminal that switches between the accuracy of the m order and the accuracy of the cm order according to a required request.

  In addition, according to the present invention, it is possible to provide a positioning terminal having convenience in various operation modes by acquiring other assist data by various means and combining it with the correction processing.

10 Positioning terminal 20 Navigation satellite 30 Reinforcement satellite 100 Positioning unit (positioning means)
110 Multiple wave signal processing unit (multiple wave signal processing means)
111 1st frequency signal processing part 11n nth frequency signal processing part 120 Correction | amendment part (correction means)
121 Positioning reinforcement (positioning reinforcement means)
122 Ionosphere delay multiple frequency correction unit (ionosphere delay multiple frequency correction means)
123 Distance correction unit (distance correction means)
130 Positioning calculation part (Positioning calculation means)
200 Mobile terminal

Claims (15)

A plurality of navigation signals are continuously received from each of a plurality of navigation satellites that broadcast navigation signals for GNSS , and a reinforcement signal is continuously received from a quasi-zenith satellite that broadcasts a reinforcement signal related to the navigation satellites,
The correction information including information on the time and orbit of the navigation satellite and the ionosphere of the positioning area included in the received reinforcement signal is identified and stored and retained .
Go to improve the positioning accuracy in real time single positioning method including the correction processing of the multipath by carrier phase observations allowed to move by using the correction information obtained from the quasi-zenith satellite included in the identified said reinforcing signal In the processing process, the satellite position and the clock error component are corrected based on the time and orbit of the navigation satellite included in the reinforcement signal, while the information on the ionosphere included in the reinforcement signal is not used. Including the step of generating correction information of ionospheric delay components based on the delay difference of the plurality of navigation signals transmitted from each of the navigation satellites, and performing correction processing,
A positioning terminal characterized by sequentially calculating the position of its own terminal by a single positioning method based on a plurality of individually corrected navigation signals for each positioning calculation . Multiple wave signal processing for continuously receiving a plurality of navigation signals from each of a plurality of navigation satellites that broadcast navigation signals for GNSS and continuously receiving a reinforcement signal from a quasi-zenith satellite that broadcasts a reinforcement signal related to the navigation satellite And
The correction information including the time and orbit of the navigation satellite included in the received augmentation signal and the information on the ionosphere of the positioning area is identified and stored , and the carrier phase that allows movement using the identified correction information. the positioning accuracy under correction process going to improve the real time alone positioning method including the correction processing of the multipath by observation, satellite position and clock error based on the time and orbit navigation satellite contained in the reinforcing signal While correcting the component , the correction information of the ionospheric delay component is obtained based on the delay difference of the plurality of navigation signals transmitted from each of the plurality of navigation satellites without using the information regarding the ionosphere included in the reinforcement signal. A correction unit that generates and corrects, and
A positioning calculation unit that sequentially calculates the position of the terminal by a single positioning method based on a plurality of navigation signals corrected individually for each positioning calculation;
A positioning terminal comprising: The positioning terminal is
In the process of improving the positioning accuracy of the single positioning method using the correction information included in the received reinforcement signal,
After correcting the ionospheric delay component based on information on the ionosphere of the positioning area included in the identified reinforcing signal, the ionospheric delay is based on the delay difference of the plurality of navigation signals transmitted from each of the plurality of navigation satellites. Correct each component,
The ionospheric delay component correction result of each navigation signal is obtained from the correction result based on the error information included in the reinforcement signal, and the ionospheric delay using the delay difference of the plurality of navigation signals transmitted from each of the plurality of navigation satellites. 3. The positioning result is sequentially acquired by a single positioning method based on a plurality of navigation signals that are individually corrected while sequentially switching to component correction results. Positioning terminal. The positioning terminal is
In the process of improving the positioning accuracy of the single positioning method using the correction information included in the received reinforcement signal,
In parallel with obtaining error information of the ionospheric delay component based on information on the ionosphere of the positioning region included in the identified reinforcement signal, the plurality of navigation signals transmitted from each of the plurality of navigation satellites Execute processing to correct each ionospheric delay component based on the delay difference,
The ionospheric delay component correction result of each navigation signal is obtained from the correction result based on the error information included in the reinforcement signal, and the ionospheric delay using the delay difference of the plurality of navigation signals transmitted from each of the plurality of navigation satellites. 3. The positioning result is sequentially acquired by a single positioning method based on a plurality of navigation signals that are individually corrected while sequentially switching to component correction results. Positioning terminal. The positioning terminal is
Using GPS signals as navigation signals for the GNSS,
Using the L1C / A signal and the L2C signal as the plurality of navigation signals,
The positioning terminal according to any one of claims 1 to 4, wherein an L1-SAIF signal is used as the reinforcement signal. The positioning terminal is
As the navigation satellite, a GPS satellite is used,
6. The positioning terminal according to claim 5, wherein a satellite “Michibiki” is used as the quasi-zenith satellite. The positioning terminal is
The positioning terminal according to claim 5 or 6, wherein a satellite "Michibiki" is used as a navigation satellite in preference to a GPS satellite . The positioning terminal is a process of improving the positioning accuracy of the single positioning method using the correction information included in the received reinforcement signal,
Based on the setting of its power saving features, whether to perform the correction process by the error information included as the correction information to the reinforcing signal relates ionosphere positioning area error information included as the correction information to the reinforcing signal Whether to perform ionospheric delay component correction processing using delay differences of the plurality of navigation signals transmitted from each of the plurality of navigation satellites instead of information correction processing , or to perform correction processing for sequentially switching both correction processing The positioning terminal according to claim 1, wherein selection processing is performed. Positioning terminal
A plurality of navigation signals are continuously received from each of a plurality of navigation satellites that broadcast navigation signals for GNSS,
Continuously receiving reinforcement signals from quasi-zenith satellites that broadcast reinforcement signals for navigation satellites,
The correction information including information on the time and orbit of the navigation satellite and the ionosphere of the positioning area included in the received reinforcement signal is identified and stored and retained .
In process go the positioning accuracy is improved in real time single positioning method including the correction processing of the multipath by carrier phase observations allowed to move by using the correction information included in the identified the reinforcing signal, the reinforcing signal The satellite position and the clock error component are corrected based on the time and orbit of the included navigation satellite, while being transmitted from each of the plurality of navigation satellites without using information regarding the ionosphere included in the reinforcement signal. Including a step of correcting an ionospheric delay component based on a delay difference between the plurality of navigation signals,
A precise single positioning method using a positioning terminal of a satellite positioning system, wherein the position of the terminal itself is sequentially calculated by a single positioning method based on a plurality of navigation signals individually corrected for each positioning calculation . The positioning terminal is
In the process of improving the positioning accuracy of the single positioning method using the correction information included in the received reinforcement signal,
After correcting the ionospheric delay component based on information on the ionosphere of the positioning area included in the identified reinforcing signal, the ionospheric delay is based on the delay difference of the plurality of navigation signals transmitted from each of the plurality of navigation satellites. Correct each component,
The ionospheric delay component correction result of each navigation signal is obtained from the correction result based on the error information included in the reinforcement signal, and the ionospheric delay using the delay difference of the plurality of navigation signals transmitted from each of the plurality of navigation satellites. The satellite according to claim 9 , wherein the positioning results are sequentially acquired by a single positioning method based on a plurality of individually corrected navigation signals while sequentially switching to component correction results. Precision single positioning method by positioning terminal of positioning system. The positioning terminal is
In the process of improving the positioning accuracy of the single positioning method using the correction information included in the received reinforcement signal,
In parallel with acquiring the ionospheric delay component based on the information regarding the ionosphere of the positioning area included in the identified reinforcement signal, the delay difference of the plurality of navigation signals transmitted from each of the plurality of navigation satellites is obtained. Based on the ionospheric delay components to correct each,
The ionospheric delay component correction result of each navigation signal is obtained from the correction result based on the error information included in the reinforcement signal, and the ionospheric delay using the delay difference of the plurality of navigation signals transmitted from each of the plurality of navigation satellites. The satellite according to claim 9 , wherein the positioning results are sequentially acquired by a single positioning method based on a plurality of individually corrected navigation signals while sequentially switching to component correction results. Precision single positioning method by positioning terminal of positioning system. The positioning terminal is
Using GPS signals as navigation signals for the GNSS,
Using the L1C / A signal and the L2C signal as the plurality of navigation signals,
12. The precise single positioning method using a positioning terminal of a satellite positioning system according to claim 9, wherein an L1-SAIF signal is used as the reinforcement signal. The positioning terminal is
As the navigation satellite, a GPS satellite is used,
13. A precise single positioning method using a positioning terminal of a satellite positioning system according to claim 12, wherein a satellite "Michibiki" is used as the quasi-zenith satellite. The positioning terminal is
14. The precise single positioning method using a positioning terminal of a satellite positioning system according to claim 12 or 13, wherein a satellite "Michibiki" is used as the navigation satellite in preference to a GPS satellite . The positioning terminal is a process of improving the positioning accuracy of the single positioning method using the correction information included in the received reinforcement signal,
Based on the setting of its power saving features, whether to perform the correction process by the error information included as the correction information to the reinforcement signal, in place of the correction process by the error information included as the correction information to the reinforcing signal A selection process is performed to perform correction processing of an ionospheric delay component using a delay difference of the plurality of navigation signals transmitted from each of the plurality of navigation satellites, or to perform correction processing for sequentially switching both correction processing. A precision single positioning method using a positioning terminal of the satellite positioning system according to any one of claims 9 to 14.

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