JP6598722B2 - High-precision positioning device and high-precision positioning system - Google Patents

High-precision positioning device and high-precision positioning system Download PDF

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JP6598722B2
JP6598722B2 JP2016075740A JP2016075740A JP6598722B2 JP 6598722 B2 JP6598722 B2 JP 6598722B2 JP 2016075740 A JP2016075740 A JP 2016075740A JP 2016075740 A JP2016075740 A JP 2016075740A JP 6598722 B2 JP6598722 B2 JP 6598722B2
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篤史 毛利
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Mitsubishi Electric Corp
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この発明は、衛星が送信する信号を用いて測位を行う高精度測位装置に関するものである。   The present invention relates to a high-precision positioning device that performs positioning using a signal transmitted by a satellite.

例えば特許文献１に記載のように、準天頂衛星等が送信する補強信号を用いることで、ＧＰＳ（Ｇｌｏｂａｌ Ｐｏｓｉｔｉｏｎｉｎｇ Ｓｙｓｔｅｍ）衛星等が送信するＧＮＳＳ（Ｇｌｏｂａｌ Ｎａｖｉｇａｔｉｏｎ Ｓａｔｅｌｌｉｔｅ Ｓｙｓｔｅｍ）用の航法信号に基づく測位を、高精度に行うことが可能である。
このような高精度の測位を行うシステムでは、初期位置算出時間を短くするために、Ｌ１帯と他周波とを組み合わせた２周波の受信部とＣＬＡＳ（Ｃｅｎｔｉｍｅｔｅｒ Ｌｅｖｅｌ Ａｕｇｍｅｎｔａｔｉｏｎ Ｓｅｒｖｉｃｅ）補強データを取得するためのＬ６帯の受信部とを組み合わせた受信機、又は、Ｌ１帯と他周波、そしてＬ６帯の３周波の受信機が使用されている。ＣＬＡＳ補強データは、現時点ではＧＰＳ衛星及び準天頂衛星のＬ１帯信号の精度を上げるデータであり、他周波は、Ｌ１帯と組み合わせて電離圏フリーモデル等により初期位置算出を高速に行うために使用される。なお、上記の他周波は、Ｌ２帯又はＬ５帯とすることが考えられるが、２周波以上つまりＬ１帯を含めると３周波以上でもよい。ただし、使用する周波数が多いほど高速化が可能であるが、高価なシステムとなる。 For example, as described in Patent Document 1, a positioning based on a navigation signal for a GNSS (Global Navigation Satellite System) transmitted by a GPS (Global Positioning System) satellite or the like is performed by using a reinforcement signal transmitted by a quasi-zenith satellite or the like. It is possible to carry out with high precision.
In such a high-accuracy positioning system, in order to shorten the initial position calculation time, a two-frequency receiving unit combining the L1 band and another frequency and CLA (Centimeter Level Augmentation Service) reinforcement data are acquired. Receivers combined with the L6 band receiver, or L1 band and other frequency, and L6 band 3 frequency receivers are used. The CLAS augmentation data is data that improves the accuracy of the L1 band signals of GPS satellites and quasi-zenith satellites at the present time, and other frequencies are used in combination with the L1 band to calculate the initial position at high speed using the ionosphere free model. Is done. The other frequency may be the L2 band or the L5 band, but may include two or more frequencies, that is, three or more frequencies including the L1 band. However, the higher the frequency used, the higher the speed, but the more expensive the system.

ＣＬＡＳ補強データと２周波とを用いたＣＬＡＳ補強２周波高精度測位は、搬送波位相の整数値バイアスが求められたときの解であるＦｉｘ解が得られたときは、ｃｍ級の測位精度となるが、整数値バイアスが実数解のままのときの解であるＦｌｏａｔ解のときには５０ｃｍ〜数ｍ級の測位精度となる。そして、Ｆｉｘ解が得られる割合を示すＦｉｘ率は、オープンスカイ環境以外ではそれほど高くない。従って、ある程度精度の良いＦｌｏａｔ解も含めたＦｉｘ／Ｆｌｏａｔ解混在での測位を実現することが、ＣＬＡＳ補強２周波高精度測位の可用性の向上につながる。しかしながら、そのような混在の場合には、測位精度が一定レベル以上のものを抽出するために、測位結果の精度を判定する必要がある。
ＧＮＳＳ信号を用いた測位結果の精度を示す精度指標としては、従来から様々なものが利用されている。例えば、ＧＮＳＳ信号を用いた測位処理で使用しているカルマンフィルタから算出される擬似距離残差に基づく精度指標がある。他にもまた、測位処理に使用する観測データを利用し、最小二乗法等により求めた測位解に基づく精度指標もある。観測データは、いわゆるＲａｗデータと呼ばれるものであり、測位処理の元となる観測量を示すデータである。また、ジャイロセンサ、加速度センサ等の慣性センサの測位結果に基づく精度指標もある。 The CLA-reinforced 2-frequency high-accuracy positioning using CLA-reinforced data and two frequencies has a cm-class positioning accuracy when a Fix solution, which is a solution when an integer value bias of the carrier phase is obtained, is obtained. However, in the case of the Float solution, which is a solution when the integer value bias remains a real number solution, the positioning accuracy is 50 cm to several m. The Fix rate indicating the ratio at which the Fix solution is obtained is not so high except in the open sky environment. Therefore, realization of positioning in a mixed Fix / Float solution including a Float solution with a certain degree of accuracy leads to an improvement in the availability of the CLAS-reinforced two-frequency high-accuracy positioning. However, in the case of such a mixture, it is necessary to determine the accuracy of the positioning result in order to extract a positioning accuracy of a certain level or higher.
Conventionally, various types of accuracy indexes indicating the accuracy of positioning results using GNSS signals have been used. For example, there is an accuracy index based on a pseudorange residual calculated from a Kalman filter used in a positioning process using a GNSS signal. In addition, there is an accuracy index based on a positioning solution obtained by the least square method using observation data used for positioning processing. The observation data is so-called Raw data, and is data indicating an observation amount that is a source of positioning processing. There is also an accuracy index based on positioning results of inertial sensors such as a gyro sensor and an acceleration sensor.

特開２０１４―２０６５０２号公報JP 2014-206502 A

しかしながら、従来利用されてきた上記の精度指標では、実際は精度が低いのにその旨が精度指標に表れないことが多々あるなど、測位結果の精度を適切に判定できているとは言い難かった。   However, it has been difficult to say that the accuracy of the positioning result can be appropriately determined with the above-described accuracy indicators that have been used in the past, such as the fact that the accuracy is actually low but that fact often does not appear in the accuracy indicator.

この発明は、上記のような課題を解決するためになされたもので、測位結果の精度をより適切に判定できる高精度測位装置を得ることを目的とする。   The present invention has been made to solve the above-described problems, and an object of the present invention is to obtain a high-precision positioning device that can more appropriately determine the accuracy of positioning results.

この発明に係る高精度測位装置は、アンテナからＬ１帯の信号及び他周波の信号を取得し、それらの信号を用いて観測データを生成する第１の受信部と、アンテナからＬ１帯の信号及び補強情報用の他周波の信号を取得し、取得したＬ１帯の信号を用いて１周波測位を行うとともに、取得した他周波の信号を用いて補強データを生成する第２の受信部と、第１の受信部が生成した観測データと、第２の受信部が生成した補強データとを用いてＣＬＡＳ補強２周波高精度測位を行う演算部と、ＣＬＡＳ補強２周波高精度測位の測位結果と、１周波測位の測位結果とを用いて、ＣＬＡＳ補強２周波高精度測位の精度を判定する判定部とを備えることを特徴とするものである。   The high-accuracy positioning device according to the present invention acquires an L1 band signal and other frequency signals from an antenna, generates observation data using those signals, an L1 band signal from the antenna, and A second receiving unit that acquires a signal of other frequencies for reinforcement information, performs one-frequency positioning using the acquired signal of the L1 band, and generates reinforcement data using the acquired other frequency signal; A calculation unit that performs CLA-reinforced two-frequency high-precision positioning using observation data generated by the first receiving unit and reinforcement data generated by the second receiving unit; a positioning result of the CLAST-reinforced two-frequency high-precision positioning; And a determination unit that determines the accuracy of the CLAS-reinforced two-frequency high-accuracy positioning using the positioning result of the one-frequency positioning.

この発明によれば、ＣＬＡＳ補強２周波高精度測位とは独立した１周波測位の測位結果を用いて、ＣＬＡＳ補強２周波高精度測位の精度を判定するので、測位結果の精度をより適切に判定できる高精度測位装置とすることができる。   According to the present invention, the accuracy of the CLA-reinforced 2-frequency high-precision positioning is determined using the positioning result of the 1-frequency positioning independent of the CLA-reinforced 2-frequency high-precision positioning. Therefore, the accuracy of the positioning result is more appropriately determined. It can be a highly accurate positioning device.

この発明の実施の形態１に係る高精度測位装置の構成を示す図である。It is a figure which shows the structure of the highly accurate positioning apparatus which concerns on Embodiment 1 of this invention. この発明の実施の形態１に係る高精度測位装置の他の構成を示す図である。It is a figure which shows the other structure of the highly accurate positioning apparatus which concerns on Embodiment 1 of this invention. 図３Ａ及び図３Ｂは、この発明の実施の形態１に係る高精度測位装置のハードウェア構成例を示す図である。3A and 3B are diagrams showing a hardware configuration example of the high-accuracy positioning device according to Embodiment 1 of the present invention. この発明の実施の形態１に係る高精度測位装置による処理の一例を示すフローチャートである。It is a flowchart which shows an example of the process by the high precision positioning device which concerns on Embodiment 1 of this invention. この発明の実施の形態２に係る高精度測位装置の構成を示す図である。It is a figure which shows the structure of the highly accurate positioning apparatus which concerns on Embodiment 2 of this invention. この発明の実施の形態２に係る高精度測位装置の他の構成を示す図である。It is a figure which shows the other structure of the highly accurate positioning apparatus which concerns on Embodiment 2 of this invention. この発明の実施の形態２に係る高精度測位装置による処理の一例を示すフローチャートである。It is a flowchart which shows an example of the process by the highly accurate positioning apparatus which concerns on Embodiment 2 of this invention. この発明の実施の形態３に係る高精度測位装置による測位の冗長化を示す図である。It is a figure which shows the redundancy of positioning by the highly accurate positioning apparatus which concerns on Embodiment 3 of this invention.

実施の形態１．
図１に、この発明の実施の形態１に係る高精度測位装置の構成を示す。高精度測位装置は、ＧＮＳＳ受信部１０とホスト処理部２００とを有する。図１では、ＧＮＳＳ受信部１０に接続されたアンテナ３００も含めて高精度測位システムとした場合を示している。
アンテナ３００は、マルチ周波数アンテナであり、衛星が送信するＬ１帯とＬ２帯とＬ６帯のＧＮＳＳ信号を受信して、ＧＮＳＳ受信部１０へ出力する。測位情報用のＬ１帯とＬ２帯のＧＮＳＳ信号は、例えばＧＰＳ衛星から送信され、補強情報用のＬ６帯のＧＮＳＳ信号は、例えば準天頂衛星から送信される。なお、準天頂衛星は、Ｌ１帯とＬ２帯のＧＮＳＳ信号も送信する。 Embodiment 1 FIG.
FIG. 1 shows the configuration of a high-accuracy positioning device according to Embodiment 1 of the present invention. The high-precision positioning device includes a GNSS receiving unit 10 and a host processing unit 200. In FIG. 1, the case where it is set as a highly accurate positioning system including the antenna 300 connected to the GNSS receiving part 10 is shown.
Antenna 300 is a multi-frequency antenna, receives GNSS signals in the L1, L2, and L6 bands transmitted by the satellite and outputs them to GNSS receiver 10. The positioning information L1 and L2 band GNSS signals are transmitted from, for example, GPS satellites, and the reinforcement information L6 band GNSS signals are transmitted from, for example, the quasi-zenith satellites. The quasi-zenith satellite also transmits GNSS signals in the L1 and L2 bands.

ＧＮＳＳ受信部１０は、それぞれが２周波受信部である第１の受信部１００と第２の受信部１５０とを有する。
第１の受信部１００は、第１のＲＦ部１０１と第２のＲＦ部１０２とベースバンド部１０３とを有する。
第１のＲＦ部１０１は、Ｌ１帯のＧＮＳＳ信号を中間周波数にダウンコンバートし、デジタル信号に変換する。また、第２のＲＦ部１０２は、Ｌ２帯のＧＮＳＳ信号を中間周波数にダウンコンバートし、デジタル信号に変換する。第１のＲＦ部１０１及び第２のＲＦ部１０２により変換されたデジタル信号は、ベースバンド部１０３へ出力される。 The GNSS receiver 10 includes a first receiver 100 and a second receiver 150, each of which is a two-frequency receiver.
The first receiving unit 100 includes a first RF unit 101, a second RF unit 102, and a baseband unit 103.
The first RF unit 101 down-converts the L1 band GNSS signal to an intermediate frequency and converts it to a digital signal. The second RF unit 102 down-converts the L2 band GNSS signal to an intermediate frequency and converts it to a digital signal. The digital signals converted by the first RF unit 101 and the second RF unit 102 are output to the baseband unit 103.

ベースバンド部１０３は、２周波測位演算部１０４を有しており、２周波測位演算部１０４は、第１のＲＦ部１０１及び第２のＲＦ部１０２が出力したデジタル信号を用いて、観測データを生成する。観測データは、具体的には、Ｃ／Ａコード擬似距離、ドップラ周波数、搬送波位相擬似距離等のデータである。また、２周波測位演算部１０４は、生成した観測データを用いて、周知の２周波測位を行う。２周波測位演算部１０４が生成した観測データと、２周波測位の測位結果とは、ホスト処理部２００へ出力される。   The baseband unit 103 includes a two-frequency positioning calculation unit 104. The two-frequency positioning calculation unit 104 uses the digital signals output from the first RF unit 101 and the second RF unit 102 to monitor observation data. Is generated. The observation data is specifically data such as C / A code pseudorange, Doppler frequency, carrier phase pseudorange. Further, the two-frequency positioning calculation unit 104 performs well-known two-frequency positioning using the generated observation data. The observation data generated by the two-frequency positioning calculation unit 104 and the positioning result of the two-frequency positioning are output to the host processing unit 200.

第２の受信部１５０は、第３のＲＦ部１５１と第４のＲＦ部１５２とベースバンド部１５３とを有する。
第３のＲＦ部１５１は、Ｌ１帯のＧＮＳＳ信号を中間周波数にダウンコンバートし、デジタル信号に変換する。また、第４のＲＦ部１５２は、Ｌ６帯のＧＮＳＳ信号を中間周波数にダウンコンバートし、デジタル信号に変換する。第３のＲＦ部１５１及び第４のＲＦ部１５２により変換されたデジタル信号は、ベースバンド部１５３へ出力される。 The second receiving unit 150 includes a third RF unit 151, a fourth RF unit 152, and a baseband unit 153.
The third RF unit 151 down-converts the L1 band GNSS signal to an intermediate frequency and converts it to a digital signal. The fourth RF unit 152 down-converts the L6 band GNSS signal to an intermediate frequency and converts it to a digital signal. The digital signals converted by the third RF unit 151 and the fourth RF unit 152 are output to the baseband unit 153.

ベースバンド部１５３は、１周波測位演算部１５４とＣＬＡＳ復号部１５５とを有している。
１周波測位演算部１５４は、第３のＲＦ部１５１が出力したデジタル信号を用いて、観測データを生成する。また、１周波測位演算部１５４は、生成した観測データを用いて、周知の１周波測位を行う。１周波測位の測位結果は、ホスト処理部２００へ出力される。
ＣＬＡＳ復号部１５５は、第４のＲＦ部１５２が出力したデジタル信号を復号して、ＣＬＡＳ補強データを生成する。ＣＬＡＳ補強データは、衛星時計誤差、衛星軌道誤差、電離層遅延量、対流圏遅延量、擬似距離信号バイアス、搬送波位相信号バイアス等、各種の誤差要因の補正に必要なデータである。ＣＬＡＳ復号部１５５が生成したＣＬＡＳ補強データは、ホスト処理部２００へ出力される。 The baseband unit 153 includes a one-frequency positioning calculation unit 154 and a CLAS decoding unit 155.
The single frequency positioning calculation unit 154 generates observation data using the digital signal output from the third RF unit 151. The 1-frequency positioning calculation unit 154 performs well-known 1-frequency positioning using the generated observation data. The positioning result of the single frequency positioning is output to the host processing unit 200.
The CRAS decoding unit 155 decodes the digital signal output from the fourth RF unit 152 to generate CLA reinforcement data. The CLAST reinforcement data is data necessary for correcting various error factors such as satellite clock error, satellite orbit error, ionosphere delay amount, troposphere delay amount, pseudorange signal bias, carrier phase signal bias, and the like. The CLASS reinforcement data generated by the CLASS decoding unit 155 is output to the host processing unit 200.

ホスト処理部２００は、ＣＬＡＳ補強２周波高精度測位演算部２０１と判定部２０２とを有する。
ＣＬＡＳ補強２周波高精度測位演算部２０１は、第１の受信部１００が出力した観測データと、第２の受信部１５０が出力したＣＬＡＳ補強データとを用いて、周知のＣＬＡＳ補強２周波高精度測位を行う演算部である。ＣＬＡＳ補強２周波高精度測位の測位結果は、判定部２０２に出力される。 The host processing unit 200 includes a CLAS reinforced two-frequency high-precision positioning calculation unit 201 and a determination unit 202.
The CLAST reinforced 2-frequency high-precision positioning calculation unit 201 uses the observation data output from the first receiving unit 100 and the CLAS-reinforced data output from the second receiving unit 150 to use a well-known CLA reinforced 2-frequency high-precision positioning calculation unit 201. It is a calculation part which performs positioning. The positioning result of the CLAS reinforced two-frequency high-precision positioning is output to the determination unit 202.

判定部２０２は、第２の受信部１５０が出力した１周波測位の測位結果と、ＣＬＡＳ補強２周波高精度測位演算部２０１が出力したＣＬＡＳ補強２周波高精度測位の測位結果とを比較して、その比較結果を、ＣＬＡＳ補強２周波高精度測位の精度を示す精度指標として使用する。判定部２０２は、この指標によりＣＬＡＳ補強２周波高精度測位の精度を判定し、ＣＬＡＳ補強２周波高精度測位の測位結果を利用するか否かを判定する。   The determination unit 202 compares the positioning result of the one-frequency positioning output from the second receiving unit 150 with the positioning result of the CLAST-reinforced two-frequency high-precision positioning output from the CLA-reinforced two-frequency high-precision positioning calculation unit 201. The comparison result is used as an accuracy index indicating the accuracy of the CLAS reinforced two-frequency high-precision positioning. The determination unit 202 determines the accuracy of the CLAS-reinforced 2-frequency high-accuracy positioning based on this index, and determines whether to use the positioning result of the CLA-reinforced 2-frequency high-accuracy positioning.

近年では、ＧＰＳに加え、ＧＬＯＮＡＳＳ（Ｇｌｏｂａｌ Ｎａｖｉｇａｔｉｏｎ Ｓａｔｅｌｌｉｔｅ Ｓｙｓｔｅｍ）、ＢＤＳ（ＢｅｉＤｏｕ Ｎａｖｉｇａｔｉｏｎ Ｓａｔｅｌｌｉｔｅ Ｓｙｓｔｅｍ）等が運用されている。また、将来的には欧州製のＧａｌｉｌｅｏもＧＮＳＳとして運用開始予定である。このように、測位に利用可能な衛星は、増加傾向にある。さらに、ディファレンシャル補正が可能なＳＢＡＳ（Ｓａｔｅｌｌｉｔｅ Ｂａｓｅｄ Ａｕｇｍｅｎｔａｔｉｏｎ Ｓｙｓｔｅｍ）も増加している。従って、Ｌ１帯のみの１周波を利用した１周波測位演算部１５４での１周波測位であっても、その測位精度は、１ｍ程度に安定して収まる可能性があり、判定部２０２での判定材料として、十分使用できる。   In recent years, in addition to GPS, GLONASS (Global Navigation Satellite System), BDS (BeiDow Navigation Satellite System), and the like have been operated. In the future, European-made Galileo is also scheduled to start operation as GNSS. Thus, the number of satellites that can be used for positioning is increasing. Further, SBAS (Satellite Based Augmentation System) capable of differential correction is increasing. Therefore, even if one-frequency positioning is performed by the one-frequency positioning calculation unit 154 using only one frequency of the L1 band, there is a possibility that the positioning accuracy may be stably contained in about 1 m, and the determination by the determination unit 202 It can be used sufficiently as a material.

なお、第１の受信部１００がホスト処理部２００へ出力した２周波測位の測位結果は、ＣＬＡＳ補強２周波高精度測位演算部２０１での演算が、ＣＬＡＳ補強データの異常等で行えなかった場合等に、必要に応じて利用することができる。   In addition, the positioning result of the two-frequency positioning output from the first receiving unit 100 to the host processing unit 200 is the case where the calculation by the CLAST reinforcing two-frequency high-precision positioning calculating unit 201 cannot be performed due to an abnormality of the CLAS reinforcing data. Etc., and can be used as needed.

図２に、この発明の実施の形態１に係る高精度測位装置の他の構成を示す。図２に示す高精度測位装置は、図１で示した高精度測位装置と異なり、ホスト処理部２００にＣＬＡＳ補強１周波高精度測位演算部２０３を有する。以下では、図１で示した高精度測位装置との相違点について主に説明する。   FIG. 2 shows another configuration of the high-accuracy positioning device according to Embodiment 1 of the present invention. The high-accuracy positioning device shown in FIG. 2 has a CLAS-reinforced 1-frequency high-precision positioning calculation unit 203 in the host processing unit 200, unlike the high-precision positioning device shown in FIG. Hereinafter, differences from the high-precision positioning device shown in FIG. 1 will be mainly described.

第２の受信部１５０の１周波測位演算部１５４は、第３のＲＦ部１５１が出力したデジタル信号を用いて生成した観測データを、ホスト処理部２００へ出力する。
ホスト処理部２００のＣＬＡＳ補強１周波高精度測位演算部２０３は、第２の受信部１５０が出力した観測データ及びＣＬＡＳ補強データを用いて、周知のＣＬＡＳ補強１周波高精度測位を行う第２の演算部である。ＣＬＡＳ補強１周波高精度測位の測位結果は、判定部２０４に出力される。 The 1-frequency positioning calculation unit 154 of the second reception unit 150 outputs observation data generated using the digital signal output from the third RF unit 151 to the host processing unit 200.
The CLA 1-frequency high-precision positioning calculation unit 203 of the host processing unit 200 uses the observation data and the CLA-suppressed data output by the second receiving unit 150 to perform a second CLA-reinforced 1-frequency high-precision positioning. It is a calculation part. The positioning result of the CLAS reinforced 1-frequency high-accuracy positioning is output to the determination unit 204.

判定部２０４は、第１の演算部であるＣＬＡＳ補強２周波高精度測位演算部２０１が出力したＣＬＡＳ補強２周波高精度測位の測位結果と、ＣＬＡＳ補強１周波高精度測位演算部２０３が出力したＣＬＡＳ補強１周波高精度測位の測位結果とを比較して、その比較結果を、ＣＬＡＳ補強２周波高精度測位の精度を示す精度指標として使用する。判定部２０４は、この指標によりＣＬＡＳ補強２周波高精度測位の精度を判定し、ＣＬＡＳ補強２周波高精度測位の測位結果を利用するか否かを判定する。   The determination unit 204 outputs the positioning result of the CLA-reinforced 2-frequency high-accuracy positioning output from the CLA-reinforced 2-frequency high-accuracy positioning calculation unit 201, which is the first calculation unit, and the CLA-reinforced 1-frequency high-accuracy positioning calculation unit 203 outputs The positioning result of the CLAS reinforced 1-frequency high-precision positioning is compared, and the comparison result is used as an accuracy index indicating the accuracy of the CLA-reinforced 2-frequency high-precision positioning. The determination unit 204 determines the accuracy of the CLAS reinforced two-frequency high-accuracy positioning based on this index, and determines whether to use the positioning result of the CLASS reinforced two-frequency high-precision positioning.

ＣＬＡＳ補強１周波高精度測位は、ＣＬＡＳ補強２周波高精度測位と比較して初期位置算出に時間が掛かるが、一度Ｆｉｘ解が得られると、測位精度はＣＬＡＳ補強２周波高精度測位と同程度となる。図１で示した１周波測位演算部１５４での１周波測位よりも、ＣＬＡＳ補強１周波高精度測位は精度が高いので、判定部２０２での判定材料としてより適切である。   In the CLAS reinforced 1-frequency high-precision positioning, the initial position calculation takes time compared with the CLA-reinforced 2-frequency high-precision positioning, but once the Fix solution is obtained, the positioning accuracy is about the same as the CLASS-reinforced 2 frequency high-precision positioning. It becomes. Since the CLAS reinforced 1-frequency high-accuracy positioning is higher than the 1-frequency positioning in the 1-frequency positioning calculation unit 154 shown in FIG. 1, it is more suitable as a determination material in the determination unit 202.

第１のＲＦ部１０１、第２のＲＦ部１０２、第３のＲＦ部１５１、第４のＲＦ部１５２は、受信回路、アナログデジタル変換器等で構成される。
２周波測位演算部１０４、１周波測位演算部１５４、ＣＬＡＳ復号部１５５、ＣＬＡＳ補強２周波高精度測位演算部２０１、判定部２０２、ＣＬＡＳ補強１周波高精度測位演算部２０３、判定部２０４の各機能は、処理回路により実現される。当該処理回路は、専用のハードウェアであっても、メモリに格納されるプログラムを実行するＣＰＵ（Ｃｅｎｔｒａｌ Ｐｒｏｃｅｓｓｉｎｇ Ｕｎｉｔ）であってもよい。ＣＰＵは、中央処理装置、処理装置、演算装置、マイクロプロセッサ、マイクロコンピュータ、プロセッサ、ＤＳＰ（Ｄｉｇｉｔａｌ Ｓｉｇｎａｌ Ｐｒｏｃｅｓｓｏｒ）とも呼ばれる。 The first RF unit 101, the second RF unit 102, the third RF unit 151, and the fourth RF unit 152 are configured by a receiving circuit, an analog-digital converter, and the like.
Each of the two-frequency positioning calculation unit 104, the one-frequency positioning calculation unit 154, the CLAS decoding unit 155, the CLAS-reinforced two-frequency high-precision positioning calculation unit 201, the determination unit 202, the CLAS-reinforced one-frequency high-precision positioning calculation unit 203, and the determination unit 204 The function is realized by a processing circuit. The processing circuit may be dedicated hardware or a CPU (Central Processing Unit) that executes a program stored in a memory. The CPU is also called a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a processor, and a DSP (Digital Signal Processor).

図３Ａは、２周波測位演算部１０４、１周波測位演算部１５４、ＣＬＡＳ復号部１５５、ＣＬＡＳ補強２周波高精度測位演算部２０１、判定部２０２、ＣＬＡＳ補強１周波高精度測位演算部２０３、判定部２０４の各部の機能を、専用のハードウェアである処理回路５００で実現した場合の、高精度測位装置のハードウェア構成例を示す図である。第１のＲＦ部１０１、第２のＲＦ部１０２、第３のＲＦ部１５１、第４のＲＦ部１５２については、図示を省略している。
処理回路５００は、例えば、単一回路、複合回路、プログラム化したプロセッサ、並列プログラム化したプロセッサ、ＡＳＩＣ（Ａｐｐｌｉｃａｔｉｏｎ Ｓｐｅｃｉｆｉｃ Ｉｎｔｅｇｒａｔｅｄ Ｃｉｒｃｕｉｔ）、ＦＰＧＡ（Ｆｉｅｌｄ Ｐｒｏｇｒａｍｍａｂｌｅ Ｇａｔｅ Ａｒｒａｙ）、またはこれらを組み合わせたものが該当する。２周波測位演算部１０４、１周波測位演算部１５４、ＣＬＡＳ復号部１５５、ＣＬＡＳ補強２周波高精度測位演算部２０１、判定部２０２、ＣＬＡＳ補強１周波高精度測位演算部２０３、判定部２０４の各部の機能を別個の処理回路５００を組み合わせて実現してもよいし、各部の機能を１つの処理回路５００で実現してもよい。 3A shows a two-frequency positioning calculation unit 104, a one-frequency positioning calculation unit 154, a CLAS decoding unit 155, a CLAS-reinforced two-frequency high-precision positioning calculation unit 201, a determination unit 202, a CLA-reinforced one-frequency high-precision positioning calculation unit 203, a determination It is a figure which shows the hardware structural example of a highly accurate positioning apparatus at the time of implement | achieving the function of each part of the part 204 with the processing circuit 500 which is exclusive hardware. The first RF unit 101, the second RF unit 102, the third RF unit 151, and the fourth RF unit 152 are not shown.
The processing circuit 500 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or a combination thereof. . Each component of the two-frequency positioning calculation unit 104, the one-frequency positioning calculation unit 154, the CLAS decoding unit 155, the CLAS-reinforced two-frequency high-precision positioning calculation unit 201, the determination unit 202, the CLAS-reinforced one-frequency high-precision positioning calculation unit 203, and the determination unit 204 These functions may be realized by combining separate processing circuits 500, or the functions of the respective units may be realized by one processing circuit 500.

図３Ｂは、２周波測位演算部１０４、１周波測位演算部１５４、ＣＬＡＳ復号部１５５、ＣＬＡＳ補強２周波高精度測位演算部２０１、判定部２０２、ＣＬＡＳ補強１周波高精度測位演算部２０３、判定部２０４の各部の機能を、メモリ５０１に格納されるプログラムを実行するＣＰＵ５０２で実現した場合の、高精度測位装置のハードウェア構成例を示す図である。第１のＲＦ部１０１、第２のＲＦ部１０２、第３のＲＦ部１５１、第４のＲＦ部１５２については、図示を省略している。
この場合、２周波測位演算部１０４、１周波測位演算部１５４、ＣＬＡＳ復号部１５５、ＣＬＡＳ補強２周波高精度測位演算部２０１、判定部２０２、ＣＬＡＳ補強１周波高精度測位演算部２０３、判定部２０４の各部の機能は、ソフトウェア、ファームウェア、またはソフトウェアとファームウェアとの組合せにより実現される。ソフトウェア及びファームウェアはプログラムとして記述され、メモリ５０１に格納される。ＣＰＵ５０２は、メモリ５０１に格納されたプログラムを読み出して実行することにより、２周波測位演算部１０４、１周波測位演算部１５４、ＣＬＡＳ復号部１５５、ＣＬＡＳ補強２周波高精度測位演算部２０１、判定部２０２、ＣＬＡＳ補強１周波高精度測位演算部２０３、判定部２０４の各部の機能を実現する。すなわち、高精度測位装置は、上記で説明した２周波測位演算部１０４、１周波測位演算部１５４、ＣＬＡＳ復号部１５５、ＣＬＡＳ補強２周波高精度測位演算部２０１、判定部２０２、ＣＬＡＳ補強１周波高精度測位演算部２０３及び判定部２０４による処理が結果的に実行されることになるプログラムを格納するためのメモリ５０１を有する。また、これらのプログラムは、２周波測位演算部１０４、１周波測位演算部１５４、ＣＬＡＳ復号部１５５、ＣＬＡＳ補強２周波高精度測位演算部２０１、判定部２０２、ＣＬＡＳ補強１周波高精度測位演算部２０３及び判定部２０４の各部の手順又は方法をコンピュータに実行させるものであるとも言える。ここで、メモリ５０１は、例えば、ＲＡＭ、ＲＯＭ、フラッシュメモリ、ＥＰＲＯＭ（Ｅｒａｓａｂｌｅ Ｐｒｏｇｒａｍｍａｂｌｅ ＲＯＭ）、ＥＥＰＲＯＭ（Ｅｌｅｃｔｒｉｃａｌｌｙ Ｅｒａｓａｂｌｅ Ｐｒｏｇｒａｍｍａｂｌｅ ＲＯＭ）等の、不揮発性又は揮発性の半導体メモリ、磁気ディスク、フレキシブルディスク、光ディスク、コンパクトディスク、ミニディスク、ＤＶＤ（Ｄｉｇｉｔａｌ Ｖｅｒｓａｔｉｌｅ Ｄｉｓｃ）等が該当する。 3B shows a two-frequency positioning calculation unit 104, a one-frequency positioning calculation unit 154, a CLAS decoding unit 155, a CLAS-reinforced two-frequency high-precision positioning calculation unit 201, a determination unit 202, a CLA-reinforced one-frequency high-precision positioning calculation unit 203, a determination 2 is a diagram illustrating a hardware configuration example of a high-accuracy positioning device in a case where functions of each unit of the unit 204 are realized by a CPU 502 that executes a program stored in a memory 501. FIG. The first RF unit 101, the second RF unit 102, the third RF unit 151, and the fourth RF unit 152 are not shown.
In this case, the two-frequency positioning calculation unit 104, the one-frequency positioning calculation unit 154, the CLAS decoding unit 155, the CLA-reinforced two-frequency high-precision positioning calculation unit 201, the determination unit 202, the CLA-reinforced one-frequency high-precision positioning calculation unit 203, and the determination unit The function of each unit 204 is realized by software, firmware, or a combination of software and firmware. Software and firmware are described as programs and stored in the memory 501. The CPU 502 reads out and executes the program stored in the memory 501, thereby executing the two-frequency positioning calculation unit 104, the one-frequency positioning calculation unit 154, the CRAS decoding unit 155, the CLAS-reinforced two-frequency high-precision positioning calculation unit 201, and the determination unit. 202, the function of each part of the CLAS reinforcement 1 frequency high precision positioning calculation part 203 and the determination part 204 is implement | achieved. That is, the high-accuracy positioning device includes the above-described two-frequency positioning calculation unit 104, one-frequency positioning calculation unit 154, CRAS decoding unit 155, CRAS-reinforced two-frequency high-precision positioning calculation unit 201, determination unit 202, and CLAST-reinforced one frequency. It has a memory 501 for storing a program in which processing by the high-precision positioning calculation unit 203 and the determination unit 204 is executed as a result. In addition, these programs include a two-frequency positioning calculation unit 104, a one-frequency positioning calculation unit 154, a CLAS decoding unit 155, a CLAST-reinforced two-frequency high-precision positioning calculation unit 201, a determination unit 202, and a CLAST-reinforced one-frequency high-precision positioning calculation unit. It can also be said that the computer executes the procedure or method of each unit 203 and the determination unit 204. Here, the memory 501 includes, for example, a nonvolatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM (Erasable Programmable ROM), an EEPROM (Electrically Erasable Programmable ROM), a magnetic disk, a flexible disk, an optical disk, A compact disc, a mini disc, a DVD (Digital Versatile Disc), and the like are applicable.

なお、２周波測位演算部１０４、１周波測位演算部１５４、ＣＬＡＳ復号部１５５、ＣＬＡＳ補強２周波高精度測位演算部２０１、判定部２０２、ＣＬＡＳ補強１周波高精度測位演算部２０３、判定部２０４の各部の機能について、一部を専用のハードウェアで実現し、一部をソフトウェアまたはファームウェアで実現するようにしてもよい。例えば、ＣＬＡＳ復号部１５５及び判定部２０２，２０４については専用のハードウェアとしての処理回路でその機能を実現し、２周波測位演算部１０４、１周波測位演算部１５４、ＣＬＡＳ補強２周波高精度測位演算部２０１、ＣＬＡＳ補強１周波高精度測位演算部２０３については処理回路がメモリに格納されたプログラムを読み出して実行することによってその機能を実現することが可能である。   Note that the 2-frequency positioning calculation unit 104, the 1-frequency positioning calculation unit 154, the CRAS decoding unit 155, the CLA-reinforced 2-frequency high-accuracy positioning calculation unit 201, the determination unit 202, the CLASS-reinforced 1-frequency high-precision positioning calculation unit 203, and the determination unit 204. A part of the functions of these units may be realized by dedicated hardware, and a part may be realized by software or firmware. For example, the functions of the CLAS decoding unit 155 and the determination units 202 and 204 are realized by a processing circuit as dedicated hardware, and the 2-frequency positioning calculation unit 104, the 1-frequency positioning calculation unit 154, and the CLAS-reinforced 2-frequency high-precision positioning. The functions of the calculation unit 201 and the CLAS-reinforced 1-frequency high-precision positioning calculation unit 203 can be realized by the processing circuit reading and executing a program stored in the memory.

このように、処理回路は、ハードウェア、ソフトウェア、ファームウェアまたはこれらの組合せによって、上記の２周波測位演算部１０４、１周波測位演算部１５４、ＣＬＡＳ復号部１５５、ＣＬＡＳ補強２周波高精度測位演算部２０１、判定部２０２、ＣＬＡＳ補強１周波高精度測位演算部２０３、判定部２０４の各機能を実現することができる。   As described above, the processing circuit is configured by the above-described two-frequency positioning calculation unit 104, one-frequency positioning calculation unit 154, CLAS decoding unit 155, CLA-reinforced two-frequency high-precision positioning calculation unit by hardware, software, firmware, or a combination thereof. The functions of 201, determination unit 202, CLAS-reinforced 1-frequency high-accuracy positioning calculation unit 203, and determination unit 204 can be realized.

第１の受信部１００と第２の受信部１５０は、ハードウェア構成が同一の装置によって実現することが可能である。この場合、当該装置に内蔵のファームウェアの変更により、異なる周波数帯の異なる形式の信号を復号することが可能である。つまり、ファームウェアの変更により、Ｌ１帯とＬ２帯の受信に使用することも可能であるし、Ｌ１帯とＬ６帯の受信に使用することも可能である。
また、第１の受信部１００と第２の受信部１５０とホスト処理部２００が、図１を用いて説明した処理を行うか、図２を用いて説明した処理を行うか、についても、処理に使用するプログラムを変更するだけで容易に切り替えることが可能である。従って、不図示の制御部により、状況に応じて使用するプログラムを変更することで、図１を用いて説明した処理と、図２を用いて説明した処理とを切り替えて実行可能なように構成してもよい。または、図１を用いて説明した１周波測位と図２を用いて説明したＣＬＡＳ補強１周波高精度測位との双方を並行して実行するようにプログラムしてもよい。 The first receiving unit 100 and the second receiving unit 150 can be realized by devices having the same hardware configuration. In this case, signals of different formats in different frequency bands can be decoded by changing the firmware built in the device. In other words, it can be used for reception of the L1 band and the L2 band by changing the firmware, and can also be used for reception of the L1 band and the L6 band.
Also, whether the first receiving unit 100, the second receiving unit 150, and the host processing unit 200 perform the processing described with reference to FIG. 1 or the processing described with reference to FIG. Can be easily switched by simply changing the program used. Accordingly, the control unit (not shown) is configured to be able to switch and execute the process described using FIG. 1 and the process described using FIG. 2 by changing the program to be used according to the situation. May be. Or you may program so that both 1 frequency positioning demonstrated using FIG. 1 and the CLAS reinforcement | strengthening 1 frequency high precision positioning demonstrated using FIG. 2 may be performed in parallel.

次に、上記のように構成された高精度測位装置の処理の一例について、図４に示すフローチャートを用いて説明する。
例えばユーザが、測位開始を高精度測位装置に対して指示すると、ＣＬＡＳ補強２周波高精度測位演算部２０１がＣＬＡＳ補強２周波高精度測位を開始し、また、１周波測位演算部１５４が１周波測位又はＣＬＡＳ補強１周波高精度測位演算部２０３がＣＬＡＳ補強１周波高精度測位を開始する（ステップＳＴ１）。
このとき、１周波測位演算部１５４での１周波測位のみ、又は、ＣＬＡＳ補強１周波高精度測位演算部２０３でのＣＬＡＳ補強１周波高精度測位のみを行ってもよいし、これら両方の測位を行ってもよい。 Next, an example of the process of the high-accuracy positioning device configured as described above will be described with reference to the flowchart shown in FIG.
For example, when the user instructs the high-accuracy positioning device to start positioning, the CLAS-reinforced 2-frequency high-precision positioning calculation unit 201 starts the CLAS-reinforced 2-frequency high-precision positioning, and the 1-frequency positioning calculation unit 154 has 1 frequency. Positioning or CLAS reinforcement 1 frequency high accuracy positioning calculation unit 203 starts CLAS reinforcement 1 frequency high accuracy positioning (step ST1).
At this time, only the 1-frequency positioning in the 1-frequency positioning calculation unit 154 or the CLA-reinforced 1-frequency high-precision positioning in the CLAS-reinforced 1-frequency high-precision positioning calculation unit 203 may be performed. You may go.

続いて、ＣＬＡＳ補強２周波高精度測位演算部２０１によるＣＬＡＳ補強２周波高精度測位が、正常に行われているかが判定される（ステップＳＴ２）。この判定は、例えば、判定部２０２，２０４が、ＣＬＡＳ補強２周波高精度測位演算部２０１から測位結果が得られているか否かにより判定する。または、２周波測位演算部１０４の演算処理で使用しているカルマンフィルタから算出される擬似距離残差、観測データ等を用いた判定を行ってもよい。   Subsequently, it is determined whether or not the CLAS reinforcement two-frequency high-precision positioning by the CLAS reinforcement two-frequency high-precision positioning calculation unit 201 is performed normally (step ST2). For example, the determination units 202 and 204 determine whether or not the positioning result is obtained from the CLAS reinforced two-frequency high-accuracy positioning calculation unit 201. Alternatively, the determination may be performed using a pseudorange residual calculated from a Kalman filter used in the calculation process of the two-frequency positioning calculation unit 104, observation data, or the like.

ＣＬＡＳ補強２周波高精度測位が、正常に行われている場合（ステップＳＴ２；ＹＥＳ）、判定部２０２，２０４は、ＣＬＡＳ補強２周波高精度測位演算部２０１によるＣＬＡＳ補強２周波高精度測位の測位結果と、１周波測位演算部１５４による１周波測位の測位結果又はＣＬＡＳ補強１周波高精度測位演算部２０３によるＣＬＡＳ補強１周波高精度測位の測位結果との差分を算出する（ステップＳＴ３）。なお、ステップＳＴ１で１周波測位とＣＬＡＳ補強１周波高精度測位の両方を行っていた場合、これらの測位結果の平均を用いて差分を算出すればよい。   When the CLAS reinforced two-frequency high-accuracy positioning is performed normally (step ST2; YES), the determination units 202 and 204 determine the position of the CLAST reinforced two-frequency high-precision positioning by the CLAST reinforced two-frequency high-precision positioning calculation unit 201. The difference between the result and the positioning result of the one-frequency positioning by the one-frequency positioning calculation unit 154 or the positioning result of the CLAS-reinforced one-frequency high-precision positioning by the CLAS-reinforced one-frequency high-precision positioning calculation unit 203 is calculated (step ST3). In addition, when both the 1-frequency positioning and the CLAS-reinforced 1-frequency high-accuracy positioning are performed in step ST1, the difference may be calculated using the average of these positioning results.

各測位結果については、カルマンフィルタ等により時系列的にその値を監視することで、異常値を除去して差分の算出に用いることができる。このようにすると、後述のステップＳＴ４での判定処理が安定する。   About each positioning result, by monitoring the value in time series by a Kalman filter or the like, an abnormal value can be removed and used for calculation of a difference. If it does in this way, the judgment processing in below-mentioned step ST4 will be stabilized.

続いて、判定部２０２，２０４は、ステップＳＴ３で算出した差分が、予め設定された閾値の範囲内であるかを判定する（ステップＳＴ４）。すなわち、ステップＳＴ１でのＣＬＡＳ補強２周波高精度測位、１周波測位、ＣＬＡＳ補強１周波高精度測位は、いずれも同じ１本のアンテナ３００の位置を算出しているものであるので、各測位結果の差分が閾値に収まっているか、つまりＣＬＡＳ補強２周波高精度測位の精度が一定レベル以上であり、使用して問題の無い測位結果であるかを、判定部２０２，２０４は判定する。このように、ＣＬＡＳ補強２周波高精度測位の測位結果と、１周波測位又はＣＬＡＳ補強１周波高精度測位の測位結果との差分を、ＣＬＡＳ補強２周波高精度測位の精度を示す精度指標として使用する。   Subsequently, the determination units 202 and 204 determine whether or not the difference calculated in step ST3 is within a preset threshold range (step ST4). That is, since the CLAS-reinforced 2-frequency high-precision positioning, the 1-frequency positioning, and the CLA-reinforced 1-frequency high-precision positioning in step ST1 all calculate the position of the same antenna 300, each positioning result The determination units 202 and 204 determine whether or not the difference is within a threshold value, that is, whether the accuracy of the CLAS reinforced two-frequency high-accuracy positioning is equal to or higher than a certain level and the positioning result is satisfactory. As described above, the difference between the positioning result of the CLAS reinforced two-frequency high-precision positioning and the difference between the positioning result of the one-frequency positioning or the CLAS reinforced one-frequency high-precision positioning is used as an accuracy index indicating the accuracy of the CLA-reinforced two-frequency high-precision positioning. To do.

ステップＳＴ３で算出された差分が、予め設定された閾値の範囲内である場合（ステップＳＴ４；ＹＥＳ）、判定部２０２，２０４は、ＣＬＡＳ補強２周波高精度測位の測位結果を、最終的な測位結果、例えばユーザに提供する測位結果として利用すると判定する（ステップＳＴ５）。   When the difference calculated in step ST3 is within a preset threshold range (step ST4; YES), the determination units 202 and 204 determine the positioning result of the CLAS-reinforced two-frequency high-precision positioning as the final positioning. As a result, for example, it is determined to be used as a positioning result provided to the user (step ST5).

一方、ステップＳＴ３で算出された差分が、予め設定された閾値の範囲を超える場合（ステップＳＴ４；ＮＯ）、判定部２０２，２０４は、ＣＬＡＳ補強２周波高精度測位の測位結果を、最終的な測位結果としては利用しないと判定する（ステップＳＴ６）。この場合は、例えば、１周波測位又はＣＬＡＳ補強１周波高精度測位の測位結果が、最終的な測位結果として利用される。   On the other hand, when the difference calculated in step ST3 exceeds the preset threshold range (step ST4; NO), the determination units 202 and 204 determine the positioning result of the CLAS-reinforced two-frequency high-precision positioning as the final result. It determines with not using as a positioning result (step ST6). In this case, for example, the positioning result of 1-frequency positioning or CRAS-reinforced 1-frequency high-accuracy positioning is used as the final positioning result.

また、そもそもＣＬＡＳ補強２周波高精度測位が、正常に行われていない場合（ステップＳＴ２；ＮＯ）、判定部２０２，２０４は、ＣＬＡＳ補強２周波高精度測位ではなく、ＣＬＡＳ補強１周波高精度測位の測位結果を、最終的な測位結果として利用すると判定する（ステップＳＴ７）。このとき、図１に示した高精度測位装置であっても、不図示の制御部により使用するプログラムを変更して、ＣＬＡＳ補強１周波高精度測位を行うようにすれば対応可能である。   In the first place, when the CLAS reinforced two-frequency high-precision positioning is not normally performed (step ST2; NO), the determination units 202 and 204 are not CLASS-reinforced two-frequency high-precision positioning, but the CLA-reinforced one-frequency high-precision positioning. Is determined to be used as the final positioning result (step ST7). At this time, even the high-accuracy positioning device shown in FIG. 1 can be handled by changing the program to be used by a control unit (not shown) to perform the CLAS reinforced single-frequency high-precision positioning.

このように、実施の形態１の高精度測位装置は、衛星が送信した信号を用いた測位である１周波測位又はＣＬＡＳ補強１周波高精度測位を、ＣＬＡＳ補強２周波高精度測位とは独立して行い、１周波測位又はＣＬＡＳ補強１周波高精度測位の測位結果を用いて、ＣＬＡＳ補強２周波高精度測位の精度を判定する。ＣＬＡＳ補強２周波高精度測位とは独立した衛星測位の測位結果を用いることで、従来の擬似距離残差、測位解等に基づく精度の判定よりも適切にＣＬＡＳ補強２周波高精度測位の精度を判定することができる。   As described above, the high-accuracy positioning device according to the first embodiment performs 1-frequency positioning or CLA-reinforced 1-frequency high-precision positioning, which is positioning using a signal transmitted from a satellite, independently of CRAS-reinforced 2-frequency high-precision positioning. The accuracy of the CLA-reinforced 2-frequency high-precision positioning is determined using the positioning result of the 1-frequency positioning or the CLA-reinforced 1-frequency high-precision positioning. By using the positioning results of satellite positioning independent of CRAS reinforced two-frequency high-precision positioning, the accuracy of CLA-reinforced two-frequency high-precision positioning is more appropriate than the conventional judgment of accuracy based on pseudorange residuals, positioning solutions, etc. Can be determined.

なお、ベースバンド部１０３，１５３内の２周波測位演算部１０４、１周波測位演算部１５４及びＣＬＡＳ復号部１５５を、ホスト処理部２００に設けてもよい。この場合、第１の受信部１００及び第２の受信部１５０は、ホスト処理部２００の一部にまたがって形成されることになる。   Note that the two-frequency positioning calculation unit 104, the one-frequency positioning calculation unit 154, and the CLASS decoding unit 155 in the baseband units 103 and 153 may be provided in the host processing unit 200. In this case, the first receiving unit 100 and the second receiving unit 150 are formed across part of the host processing unit 200.

また、ホスト処理部２００で行っている演算処理及び判定処理を、ＧＮＳＳ受信部１０でまとめて行うように構成してもよい。   Further, the calculation processing and the determination processing performed by the host processing unit 200 may be performed collectively by the GNSS receiving unit 10.

また、ＧＮＳＳ受信部１０に３つ以上の２周波受信部を備え、判定部２０２，２０４でＣＬＡＳ補強２周波高精度測位の精度を判定するために用いる測位の個数を増加させてもよい。   Further, the GNSS receiving unit 10 may be provided with three or more two-frequency receiving units, and the number of positioning used for determining the accuracy of the CLAS-reinforced two-frequency high-accuracy positioning by the determination units 202 and 204 may be increased.

また、上記では、第１の受信部１００は、Ｌ１帯及びＬ２帯のＧＮＳＳ信号を処理の対象とするとしたが、Ｌ２帯に代えてＬ５帯のＧＮＳＳ信号を処理の対象としてもよい。この場合、アンテナ３００により、衛星が送信するＬ１帯とＬ５帯とＬ６帯のＧＮＳＳ信号を受信する。要は、第１の受信部１００は、Ｌ１帯の他に、測位情報用の帯のＧＮＳＳ信号を処理の対象とするものであればよい。   In the above description, the first receiving unit 100 is targeted for processing the GNSS signals in the L1 band and the L2 band, but may be the GNSS signal in the L5 band instead of the L2 band. In this case, the antenna 300 receives GNSS signals in the L1, L5, and L6 bands transmitted by the satellite. In short, the first receiving unit 100 only needs to process the GNSS signal in the positioning information band in addition to the L1 band.

また、上記では、補強データを生成するために、補強情報用のＬ６帯のＧＮＳＳ信号を利用するとしたが、Ｌ６帯に限らず、補強情報用の帯のＧＮＳＳ信号を利用できればよい。例えば、Ｌ６帯に代えて、Ｌ５Ｓ帯のＧＮＳＳ信号を利用してもよい。   In the above description, the L6 band GNSS signal for reinforcement information is used to generate the reinforcement data. However, the GNSS signal of the band for reinforcement information may be used without being limited to the L6 band. For example, instead of the L6 band, an GNSS signal in the L5S band may be used.

以上のように、この実施の形態１に係る高精度測位装置によれば、ＣＬＡＳ補強２周波高精度測位とは独立した衛星測位の測位結果を用いて、ＣＬＡＳ補強２周波高精度測位の精度を判定する。これにより、適切にＣＬＡＳ補強２周波高精度測位の精度を判定することができる。   As described above, according to the high-accuracy positioning device according to the first embodiment, the accuracy of the CLA-reinforced two-frequency high-precision positioning is improved by using the positioning result of the satellite positioning independent of the CLA-reinforced two-frequency high-precision positioning. judge. Thereby, the precision of a CLAS reinforcement 2 frequency high-precision positioning can be determined appropriately.

実施の形態２．
実施の形態１では、第１の受信部１００と第２の受信部１５０とが、１つのアンテナ３００を共用している形態について説明した。実施の形態２では、第１の受信部１００と第２の受信部１５０とが、それぞれ別のアンテナ３０１，３０２と接続される形態について説明する。
図５に、この発明の実施の形態２に係る高精度測位装置の構成を示す。なお、実施の形態１で既に説明した構成と同一又は相当する構成については、同一の符号を付し、その説明を省略又は簡略化する。
図５では、ＧＮＳＳ受信部１０に接続されたアンテナ３０１，３０２も含めて高精度測位システムとした場合を示している。 Embodiment 2. FIG.
In Embodiment 1, the form in which the first receiving unit 100 and the second receiving unit 150 share one antenna 300 has been described. In the second embodiment, a mode in which the first receiving unit 100 and the second receiving unit 150 are connected to different antennas 301 and 302 will be described.
FIG. 5 shows the configuration of a high-accuracy positioning device according to Embodiment 2 of the present invention. Note that the same or corresponding components as those already described in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted or simplified.
FIG. 5 shows a case where a high-accuracy positioning system including the antennas 301 and 302 connected to the GNSS receiving unit 10 is shown.

アンテナ３０１は、マルチ周波数アンテナであり、衛星が送信するＬ１帯とＬ２帯のＧＮＳＳ信号を受信して、第１の受信部１００へ出力する第１のアンテナである。
アンテナ３０２は、マルチ周波数アンテナであり、衛星が送信するＬ１帯とＬ６帯のＧＮＳＳ信号を受信して、第２の受信部１５０へ出力する第２のアンテナである。 The antenna 301 is a multi-frequency antenna, and is a first antenna that receives GNSS signals in the L1 band and L2 band transmitted by the satellite and outputs them to the first receiving unit 100.
The antenna 302 is a multi-frequency antenna, and is a second antenna that receives GNSS signals in the L1 band and L6 band transmitted by the satellite and outputs them to the second receiving unit 150.

第１の受信部１００が、２周波測位演算部１０４が生成した観測データと、２周波測位の測位結果とをホスト処理部２００へ出力するまでの処理は、実施の形態１で既に説明した通りである。
また、第２の受信部１５０が、１周波測位演算部１５４が生成した観測データと、ＣＬＡＳ復号部１５５が生成したＣＬＡＳ補強データとをホスト処理部２００へ出力するまでの処理は、実施の形態１で説明した通りである。 The processing until the first receiving unit 100 outputs the observation data generated by the two-frequency positioning calculation unit 104 and the positioning result of the two-frequency positioning to the host processing unit 200 is as already described in the first embodiment. It is.
The processing until the second reception unit 150 outputs the observation data generated by the one-frequency positioning calculation unit 154 and the CLAST augmentation data generated by the CLAS decoding unit 155 to the host processing unit 200 is described in the embodiment. As described in 1.

ホスト処理部２００は、ＣＬＡＳ補強２周波高精度測位演算部２０１と相対測位演算部２０５と判定部２０６とを有する。
ＣＬＡＳ補強２周波高精度測位演算部２０１は、第１の受信部１００が出力した観測データと、第２の受信部１５０が出力したＣＬＡＳ補強データとを用いて、周知のＣＬＡＳ補強２周波高精度測位を行う第１の演算部である。ＣＬＡＳ補強２周波高精度測位の測位結果は、相対測位演算部２０５及び判定部２０６に出力される。この測位結果は、アンテナ３０１の位置の測位結果を示している。 The host processing unit 200 includes a CLAS reinforced two-frequency high-precision positioning calculation unit 201, a relative positioning calculation unit 205, and a determination unit 206.
The CLAST reinforced 2-frequency high-precision positioning calculation unit 201 uses the observation data output from the first receiving unit 100 and the CLAS-reinforced data output from the second receiving unit 150 to use a well-known CLA reinforced 2-frequency high-precision positioning calculation unit 201. It is the 1st calculating part which performs positioning. The positioning result of the CRAS reinforced two-frequency high-precision positioning is output to the relative positioning calculation unit 205 and the determination unit 206. This positioning result indicates the positioning result of the position of the antenna 301.

相対測位演算部２０５は、第１の受信部１００が出力した観測データと、第２の受信部１５０が出力した観測データと、ＣＬＡＳ補強２周波高精度測位演算部２０１が出力したＣＬＡＳ補強２周波高精度測位の測位結果とを用いて、周知の相対測位を行う第２の演算部である。相対測位は、周知の通り、２本のアンテナそれぞれから得られる観測データと、一方のアンテナの位置とを用いて、他方のアンテナの位置を高精度に求めることができるものである。相対測位演算部２０５による相対測位の測位結果は、アンテナ３０２の測位結果を示しており、判定部２０６に出力される。   The relative positioning calculation unit 205 includes the observation data output from the first reception unit 100, the observation data output from the second reception unit 150, and the CLAST reinforcement two frequencies output from the CLAS reinforcement two-frequency high-precision positioning calculation unit 201. It is the 2nd calculating part which performs a known relative positioning using the positioning result of high-accuracy positioning. As is well known, the relative positioning can obtain the position of the other antenna with high accuracy using the observation data obtained from each of the two antennas and the position of one of the antennas. The positioning result of the relative positioning by the relative positioning calculation unit 205 indicates the positioning result of the antenna 302 and is output to the determination unit 206.

判定部２０６は、ＣＬＡＳ補強２周波高精度測位演算部２０１が出力したＣＬＡＳ補強２周波高精度測位の測位結果と、相対測位演算部２０５が出力した相対測位の測位結果とを用いて、２つのアンテナ３０１，３０２の相対的な位置関係を算出し、ＣＬＡＳ補強２周波高精度測位の精度を判定する。   The determination unit 206 uses the positioning result of the CLAS reinforced two-frequency high-precision positioning output from the CLAS-reinforced two-frequency high-precision positioning calculation unit 201 and the positioning result of the relative positioning output from the relative positioning calculation unit 205 to The relative positional relationship between the antennas 301 and 302 is calculated, and the accuracy of the CLAS reinforced two-frequency high-precision positioning is determined.

図６に、この発明の実施の形態２に係る高精度測位装置の他の構成を示す。図６に示す高精度測位装置は、図５で示した相対測位演算部２０５に代えて、２アンテナ高精度測位演算部２０７を有する。以下では、図５で示した高精度測位装置との相違点について主に説明する。   FIG. 6 shows another configuration of the high-accuracy positioning device according to Embodiment 2 of the present invention. The high-accuracy positioning device shown in FIG. 6 has a two-antenna high-precision positioning calculation unit 207 instead of the relative positioning calculation unit 205 shown in FIG. Hereinafter, differences from the high-precision positioning device shown in FIG. 5 will be mainly described.

２アンテナ高精度測位演算部２０７は、第１の受信部１００が出力した観測データと、第２の受信部１５０が出力した観測データとを用いて、周知の２アンテナ高精度測位を行う第２の演算部である。２アンテナ高精度測位のアルゴリズムとしては、例えば特許第４１０８７３８号に示されたものを用いることが可能である。つまり、予め設定された距離を空けて配置された２本のアンテナ３０１，３０２で受信したＧＮＳＳ信号を用いて、アンテナ３０１，３０２の位置をそれぞれ単独で精密に測位するとともに、アンテナ３０１，３０２間の距離を拘束条件として使用することにより、高精度に測位を行うことが可能である。
２アンテナ高精度測位演算部２０７による２アンテナ高精度測位の測位結果は、アンテナ３０２の測位結果を示しており、判定部２０８に出力される。 The two-antenna high-precision positioning calculation unit 207 performs second well-known two-antenna high-precision positioning using the observation data output from the first reception unit 100 and the observation data output from the second reception unit 150. It is an operation part. As an algorithm for two-antenna high-precision positioning, for example, the algorithm disclosed in Japanese Patent No. 4108738 can be used. In other words, using the GNSS signals received by the two antennas 301 and 302 arranged at a predetermined distance, the positions of the antennas 301 and 302 are individually and precisely determined, and the distance between the antennas 301 and 302 is determined. By using this distance as a constraint condition, it is possible to perform positioning with high accuracy.
The positioning result of the two-antenna high-precision positioning by the two-antenna high-precision positioning calculation unit 207 indicates the positioning result of the antenna 302 and is output to the determination unit 208.

判定部２０８は、第１の演算部であるＣＬＡＳ補強２周波高精度測位演算部２０１が出力したＣＬＡＳ補強２周波高精度測位の測位結果と、２アンテナ高精度測位演算部２０７が出力した２アンテナ高精度測位の測位結果とを用いて、２つのアンテナ３０１，３０２の相対的な位置関係を算出し、ＣＬＡＳ補強２周波高精度測位の精度を判定する。   The determination unit 208 includes a positioning result of the CLAST reinforced two-frequency high-precision positioning output from the CLA-reinforced two-frequency high-precision positioning calculation unit 201, which is the first calculation unit, and two antennas output from the two-antenna high-precision positioning calculation unit 207. The relative positional relationship between the two antennas 301 and 302 is calculated using the positioning result of the high-accuracy positioning, and the accuracy of the CLAS reinforced two-frequency high-accuracy positioning is determined.

相対測位演算部２０５が行う相対測位、２アンテナ高精度測位演算部２０７が行う２アンテナ高精度測位は、実施の形態１で示した１周波測位、ＣＬＡＳ補強１周波高精度測位よりも精度の高い測位結果が得られる。   The relative positioning performed by the relative positioning calculation unit 205 and the two-antenna high-precision positioning performed by the two-antenna high-precision positioning calculation unit 207 are more accurate than the one-frequency positioning and the CLAS-reinforced one-frequency high-precision positioning described in the first embodiment. A positioning result is obtained.

２周波測位演算部１０４、１周波測位演算部１５４、ＣＬＡＳ復号部１５５、ＣＬＡＳ補強２周波高精度測位演算部２０１、相対測位演算部２０５、判定部２０６、２アンテナ高精度測位演算部２０７、判定部２０８の各機能は、実施の形態１で説明したのと同様に、専用のハードウェア、または、メモリに格納されるプログラムを実行するＣＰＵである処理回路によって実現される。   2-frequency positioning calculation unit 104, 1-frequency positioning calculation unit 154, CLAS decoding unit 155, CLASS-reinforced 2-frequency high-precision positioning calculation unit 201, relative positioning calculation unit 205, determination unit 206, two-antenna high-precision positioning calculation unit 207, determination Each function of the unit 208 is realized by dedicated hardware or a processing circuit that is a CPU that executes a program stored in a memory, as described in the first embodiment.

第１の受信部１００と第２の受信部１５０は、実施の形態１と同様に、ハードウェア構成が同一の装置によって実現することが可能である。
また、第１の受信部１００と第２の受信部１５０とホスト処理部２００が、図５を用いて説明した処理を行うか、図６を用いて説明した処理を行うかについては、処理に使用するプログラムを変更するだけで容易に切り替えることが可能である。従って、不図示の制御部により、状況に応じて使用するプログラムを変更して、図５を用いて説明した処理と、図６を用いて説明した処理とを切り替えて実行可能なように構成してもよい。または、図５を用いて説明した相対測位と図６を用いて説明した２アンテナ高精度測位との双方を並列して実行するようにプログラムしてもよい。
更には、アンテナ３０２の測位を行うために、第１の受信部１００と第２の受信部１５０とホスト処理部２００が、図１を用いて説明した１周波測位と、図２を用いて説明したＣＬＡＳ補強１周波高精度測位と、図５を用いて説明した相対測位と、図６を用いて説明した２アンテナ高精度測位のいずれを行うかについても、処理に使用するプログラムを変更するだけで容易に切り替えることが可能である。または、図１を用いて説明した１周波測位と、図２を用いて説明したＣＬＡＳ補強１周波高精度測位と、図５を用いて説明した相対測位と、図６を用いて説明した２アンテナ高精度測位の全てを並列して実行するようにプログラムしてもよい。 The first receiving unit 100 and the second receiving unit 150 can be realized by apparatuses having the same hardware configuration as in the first embodiment.
Whether the first receiving unit 100, the second receiving unit 150, and the host processing unit 200 perform the processing described with reference to FIG. 5 or the processing described with reference to FIG. It is possible to switch easily by simply changing the program to be used. Therefore, the control unit (not shown) is configured to change the program used according to the situation so that the processing described with reference to FIG. 5 and the processing described with reference to FIG. 6 can be switched and executed. May be. Or you may program so that both the relative positioning demonstrated using FIG. 5 and the 2 antenna high precision positioning demonstrated using FIG. 6 may be performed in parallel.
Furthermore, in order to perform positioning of the antenna 302, the first receiving unit 100, the second receiving unit 150, and the host processing unit 200 will be described with reference to FIG. Whether to perform the CLAS-reinforced 1-frequency high-precision positioning, the relative positioning described with reference to FIG. 5, or the two-antenna high-precision positioning described with reference to FIG. 6, only changes the program used for processing. It is possible to switch easily. Or the 1 frequency positioning demonstrated using FIG. 1, the CLAS reinforcement | strengthening 1 frequency high precision positioning demonstrated using FIG. 2, the relative positioning demonstrated using FIG. 5, and the 2 antenna demonstrated using FIG. You may program so that all the high precision positioning may be performed in parallel.

次に、上記のように構成された高精度測位装置の処理の一例について、図７に示すフローチャートを用いて説明する。
例えばユーザが、測位開始を高精度測位装置に対して指示すると、ＣＬＡＳ補強２周波高精度測位演算部２０１がＣＬＡＳ補強２周波高精度測位を開始し、また、相対測位演算部２０５が相対測位又は２アンテナ高精度測位演算部２０７が２アンテナ高精度測位を開始する（ステップＳＴ１１）。
このとき、相対測位及び２アンテナ高精度測位に代えて、１周波測位演算部１５４による１周波測位でのアンテナ３０２の測位を行ってもよいし、また、第２の受信部１５０が出力する観測データとＣＬＡＳ補強データとを用いたＣＬＡＳ補強１周波高精度測位でのアンテナ３０２の測位を行ってもよい。
更には、相対測位のみ、２アンテナ高精度測位のみ、１周波測位のみ、又は、ＣＬＡＳ補強１周波高精度測位のみを行ってもよいし、これら複数の測位を任意に組み合わせてもよい。 Next, an example of processing of the high-precision positioning device configured as described above will be described with reference to the flowchart shown in FIG.
For example, when the user instructs the high-accuracy positioning device to start positioning, the CLAS-reinforced 2-frequency high-precision positioning calculation unit 201 starts the CLAS-reinforced 2-frequency high-precision positioning, and the relative positioning calculation unit 205 sets the relative positioning or The 2-antenna high-precision positioning calculation unit 207 starts 2-antenna high-precision positioning (step ST11).
At this time, instead of the relative positioning and the two-antenna high-accuracy positioning, the positioning of the antenna 302 by the one-frequency positioning may be performed by the one-frequency positioning calculation unit 154, or the observation output from the second receiving unit 150 may be performed. Positioning of the antenna 302 may be performed in the CLAS reinforcement 1-frequency high-precision positioning using the data and the CLAS reinforcement data.
Furthermore, only relative positioning, only two-antenna high-precision positioning, only one-frequency positioning, or CLAS-reinforced one-frequency high-precision positioning may be performed, or a plurality of these positionings may be arbitrarily combined.

続いて、ＣＬＡＳ補強２周波高精度測位演算部２０１によるＣＬＡＳ補強２周波高精度測位が、正常に行われているかが判定される（ステップＳＴ１２）。これは、図４を用いて既に説明したステップＳＴ２と同様の処理である。   Subsequently, it is determined whether the CLAS reinforcement 2 frequency high-precision positioning by the CLAS reinforcement 2 frequency high precision positioning calculation unit 201 is normally performed (step ST12). This is the same processing as step ST2 already described with reference to FIG.

ＣＬＡＳ補強２周波高精度測位が、正常に行われている場合（ステップＳＴ１２；ＹＥＳ）、判定部２０６，２０８は、ＣＬＡＳ補強２周波高精度測位演算部２０１によるＣＬＡＳ補強２周波高精度測位の測位結果つまりアンテナ３０１の測位位置と、相対測位、２アンテナ高精度測位、１周波測位、又は、ＣＬＡＳ補強１周波高精度測位の測位結果つまりアンテナ３０２の測位位置とを用いて、アンテナ３０１とアンテナ３０２間の距離を算出する（ステップＳＴ１３）。または、ステップＳＴ１３では、アンテナ３０１とアンテナ３０２の測位結果の引き算からベクトルを求め、当該ベクトルと、各測位処理で得られる高精度測位装置を搭載した移動体の進行方向ベクトルとの差分を算出してもよい。なお、ステップＳＴ１１で相対測位、２アンテナ高精度測位、１周波測位、ＣＬＡＳ補強１周波高精度測位のうちの複数の測位を行っていた場合、それらの測位結果の平均を用いて、アンテナ３０２の測位位置とすればよい。   When the CLAS reinforced two-frequency high-precision positioning is performed normally (step ST12; YES), the determination units 206 and 208 determine the position of the CLA-reinforced reinforced two-frequency high-precision positioning by the CLAST reinforced two-frequency high-precision positioning calculation unit 201. Using the result, that is, the positioning position of the antenna 301 and the relative positioning, the two-antenna high-precision positioning, the one-frequency positioning, or the positioning result of the CLA-reinforced one-frequency high-precision positioning, that is, the positioning position of the antenna 302, the antenna 301 and the antenna 302 are used. The distance between them is calculated (step ST13). Alternatively, in step ST13, a vector is obtained from the subtraction of the positioning results of the antenna 301 and the antenna 302, and the difference between the vector and the traveling direction vector of the mobile object equipped with the high-precision positioning device obtained by each positioning process is calculated. May be. In addition, when a plurality of positionings among relative positioning, 2 antenna high-accuracy positioning, 1-frequency positioning, and CLAS-reinforced 1-frequency high-accuracy positioning are performed in step ST11, the average of those positioning results is used to determine the antenna 302. A positioning position may be used.

続いて、判定部２０６，２０８は、ステップＳＴ１３で算出した距離又は差分が、予め設定された閾値の範囲内であるかを判定する（ステップＳＴ１４）。すなわち、ステップＳＴ１１でのＣＬＡＳ補強２周波高精度測位はアンテナ３０１の位置を、相対測位、２アンテナ高精度測位、１周波測位及びＣＬＡＳ補強１周波高精度測位はアンテナ３０２の位置を算出しているものであるので、ステップＳＴ１３で算出した距離又は差分がアンテナ３０１，３０２の実際の設置状況に基づき設定された閾値に収まっているか、つまりＣＬＡＳ補強２周波高精度測位の精度が一定レベル以上であり、使用して問題の無い測位結果であるかを、判定部２０６，２０８は判定する。このように、ステップＳＴ１３で算出した距離又は差分を、ＣＬＡＳ補強２周波高精度測位の精度を示す精度指標として使用する。   Subsequently, the determination units 206 and 208 determine whether the distance or difference calculated in step ST13 is within a preset threshold range (step ST14). That is, the position of the antenna 301 is calculated in the CLAS reinforced two-frequency high-precision positioning in step ST11, and the position of the antenna 302 is calculated in the relative positioning, the two-antenna high-precision positioning, the one-frequency positioning, and the CLA-reinforced one-frequency high-precision positioning. Therefore, whether the distance or difference calculated in step ST13 is within the threshold set based on the actual installation status of the antennas 301 and 302, that is, the accuracy of the CLAS reinforced two-frequency high-precision positioning is a certain level or more. The determination units 206 and 208 determine whether or not the positioning result is satisfactory. As described above, the distance or difference calculated in step ST13 is used as an accuracy index indicating the accuracy of the CLAS-reinforced 2-frequency high-precision positioning.

ステップＳＴ１３で算出された距離又は差分が、予め設定された閾値の範囲内である場合（ステップＳＴ１４；ＹＥＳ）、判定部２０６，２０８は、ＣＬＡＳ補強２周波高精度測位の測位結果を、最終的な測位結果として利用すると判定する（ステップＳＴ１５）。   When the distance or difference calculated in step ST13 is within a preset threshold range (step ST14; YES), the determination units 206 and 208 determine the positioning results of the CLAS-reinforced two-frequency high-precision positioning as the final result. It is determined that it will be used as a correct positioning result (step ST15).

一方、ステップＳＴ１３で算出された距離又は差分が、予め設定された閾値を超える場合（ステップＳＴ１４；ＮＯ）、判定部２０６，２０８は、ＣＬＡＳ補強２周波高精度測位の測位結果を、最終的な測位結果としては利用しないと判定する（ステップＳＴ１６）。この場合は、例えば、相対測位、２アンテナ高精度測位、１周波測位又はＣＬＡＳ補強１周波高精度測位の測位結果が、最終的な測位結果として利用される。   On the other hand, when the distance or difference calculated in step ST13 exceeds a preset threshold value (step ST14; NO), the determination units 206 and 208 determine the positioning result of the CLAS-reinforced two-frequency high-precision positioning as the final result. It determines with not using as a positioning result (step ST16). In this case, for example, a positioning result of relative positioning, two-antenna high-precision positioning, one-frequency positioning, or CLAS-reinforced one-frequency high-precision positioning is used as a final positioning result.

また、そもそもＣＬＡＳ補強２周波高精度測位が、正常に行われていない場合（ステップＳＴ１２；ＮＯ）、判定部２０６，２０８は、ＣＬＡＳ補強２周波高精度測位ではなく、ＣＬＡＳ補強１周波高精度測位の測位結果を、最終的な測位結果として利用すると判定する（ステップＳＴ１７）。このとき、図５及び図６に示した高精度測位装置であっても、不図示の制御部により使用するプログラムを変更して、ＣＬＡＳ補強１周波高精度測位を行うようにすれば対応可能である。   In the first place, when the CLAS reinforced two-frequency high-precision positioning is not normally performed (step ST12; NO), the determination units 206 and 208 are not CLASS-reinforced two-frequency high-precision positioning, but the CLA-reinforced single-frequency high-precision positioning. Is determined to be used as the final positioning result (step ST17). At this time, even the high-accuracy positioning device shown in FIGS. 5 and 6 can be handled by changing the program to be used by a control unit (not shown) to perform the CLAS reinforced single-frequency high-precision positioning. is there.

このように、実施の形態２の高精度測位装置は、衛星が送信した信号を用いた測位である相対測位又は２アンテナ高精度測位を、ＣＬＡＳ補強２周波高精度測位とは独立して行い、相対測位又は２アンテナ高精度測位を用いて、ＣＬＡＳ補強２周波高精度測位の精度を判定する。ＣＬＡＳ補強２周波高精度測位とは独立した衛星測位の測位結果を用いることで、従来の擬似距離残差、測位解等に基づく精度の判定よりも適切にＣＬＡＳ補強２周波高精度測位の精度を判定することができる。   As described above, the high-accuracy positioning device according to the second embodiment performs relative positioning or two-antenna high-precision positioning, which is positioning using a signal transmitted from a satellite, independently of the CLAS-reinforced two-frequency high-precision positioning. Relative positioning or two-antenna high-precision positioning is used to determine the accuracy of the CLAS-reinforced two-frequency high-precision positioning. By using the positioning results of satellite positioning independent of CRAS-enhanced 2-frequency high-precision positioning, the accuracy of CLA-reinforced 2-frequency high-accuracy positioning is more appropriate than the determination of accuracy based on conventional pseudorange residuals, positioning solutions, etc. Can be determined.

なお、ＧＮＳＳ受信部１０に３つ以上の２周波受信部を備え、更にそれぞれの２周波受信部に別個にマルチ周波数アンテナを接続することで、判定部２０６，２０８でＣＬＡＳ補強２周波高精度測位の精度を判定するために用いる測位の個数を増加させてもよい。   The GNSS receiver 10 is provided with three or more dual-frequency receivers, and a multi-frequency antenna is connected to each of the two-frequency receivers separately. The number of positioning used to determine the accuracy of the may be increased.

以上のように、この実施の形態２に係る高精度測位装置によれば、ＣＬＡＳ補強２周波高精度測位とは独立した衛星測位の測位結果を用いて、ＣＬＡＳ補強２周波高精度測位の精度を判定する。これにより、適切にＣＬＡＳ補強２周波高精度測位の精度を判定することができる。
特に、実施の形態２で示した相対測位及び２アンテナ高精度測位は精度が高く、実施の形態１の場合よりも更に適切にＣＬＡＳ補強２周波高精度測位の精度を判定することができる。 As described above, according to the high-accuracy positioning device according to the second embodiment, the accuracy of the CLA-reinforced two-frequency high-precision positioning is improved by using the positioning result of the satellite positioning independent of the CLA-reinforced two-frequency high-precision positioning. judge. Thereby, the precision of a CLAS reinforcement 2 frequency high-precision positioning can be determined appropriately.
In particular, the relative positioning and the two-antenna high-accuracy positioning shown in the second embodiment have high accuracy, and the accuracy of the CLAS-reinforced two-frequency high-precision positioning can be determined more appropriately than the case of the first embodiment.

実施の形態３．
実施の形態３では、第１の受信部１００と第２の受信部１５０という２つの受信部を備えることによる測位の冗長化について説明する。
図８は、図２に示した高精度測位装置において、第１の受信部１００が機能不全となったときの状態を示している。 Embodiment 3 FIG.
In the third embodiment, redundant positioning by providing two receiving units, the first receiving unit 100 and the second receiving unit 150, will be described.
FIG. 8 shows a state when the first receiving unit 100 has malfunctioned in the high-accuracy positioning device shown in FIG.

図８に示すように、第１の受信部１００が機能不全となった場合は、ＣＬＡＳ補強２周波高精度測位を行うことができなくなる。しかしながら、第２の受信部１５０を備えていることにより、第２の受信部１５０が出力する観測データとＣＬＡＳ補強データとを用いて、ＣＬＡＳ補強１周波高精度測位の継続が可能となる。
なお、図１に示した高精度測位装置において、第１の受信部１００が機能不全となった場合は、１周波測位を継続すればよい。
また、図５及び図６に示した高精度測位装置において、第１の受信部１００が機能不全となった場合も、１周波測位を継続するか、或いは、不図示の制御部により使用するプログラムを変更して、ＣＬＡＳ補強１周波高精度測位を行うようにすればよい。
また、第２の受信部１５０が機能不全となった場合は、２周波測位を継続すればよい。 As shown in FIG. 8, when the first receiving unit 100 becomes malfunctioning, it becomes impossible to perform CLAS-reinforced two-frequency high-precision positioning. However, since the second receiving unit 150 is provided, it is possible to continue the CLAS-reinforced 1-frequency high-precision positioning using the observation data output from the second receiving unit 150 and the CLA-reinforced data.
In the high-accuracy positioning device shown in FIG. 1, if the first receiving unit 100 becomes malfunctioning, one-frequency positioning may be continued.
Further, in the high-accuracy positioning device shown in FIGS. 5 and 6, even when the first receiving unit 100 fails, a program used to continue one-frequency positioning or to be used by a control unit (not shown). May be changed to perform the CLAS reinforced single-frequency high-precision positioning.
Moreover, what is necessary is just to continue 2 frequency positioning, when the 2nd receiving part 150 becomes malfunctioning.

以上のように、この実施の形態３に係る高精度測位装置によれば、第１の受信部１００と第２の受信部１５０という２つの受信部を備えることで、いずれかの受信部が機能不全となりＣＬＡＳ補強２周波高精度測位が行えなくなったとしても、別の方式による測位を継続することができる。   As described above, according to the high-accuracy positioning device according to the third embodiment, by including the two receiving units, the first receiving unit 100 and the second receiving unit 150, any one of the receiving units functions. Even if it becomes insufficiency and it becomes impossible to perform CLA-reinforced 2-frequency high-precision positioning, positioning by another method can be continued.

なお、本願発明はその発明の範囲内において、各実施の形態の自由な組み合わせ、あるいは各実施の形態の任意の構成要素の変形、もしくは各実施の形態において任意の構成要素の省略が可能である。   In the present invention, within the scope of the invention, any combination of the embodiments, any modification of any component in each embodiment, or omission of any component in each embodiment is possible. .

１０ ＧＮＳＳ受信部、１００ 第１の受信部、１０１ 第１のＲＦ部、１０２ 第２のＲＦ部、１０３ ベースバンド部、１０４ ２周波測位演算部、１５０ 第２の受信部、１５１ 第３のＲＦ部、１５２ 第４のＲＦ部、１５３ ベースバンド部、１５４ １周波測位演算部、１５５ ＣＬＡＳ復号部、２００ ホスト処理部、２０１ ＣＬＡＳ補強２周波高精度測位演算部、２０２ 判定部、２０３ ＣＬＡＳ補強１周波高精度測位演算部、２０４ 判定部、２０５ 相対測位演算部、２０６ 判定部、２０７ ２アンテナ高精度測位演算部、２０８ 判定部、３００〜３０２ アンテナ、５００ 処理回路、５０１ メモリ、５０２ ＣＰＵ。   10 GNSS receiving unit, 100 first receiving unit, 101 first RF unit, 102 second RF unit, 103 baseband unit, 104 two-frequency positioning calculation unit, 150 second receiving unit, 151 third RF , 152 4th RF unit, 153 baseband unit, 154 1 frequency positioning calculation unit, 155 CRAS decoding unit, 200 host processing unit, 201 CLASS reinforcement 2 frequency high precision positioning calculation unit, 202 determination unit, 203 CLAS reinforcement 1 Frequency high-precision positioning calculation unit, 204 determination unit, 205 relative positioning calculation unit, 206 determination unit, 2072 antenna high-precision positioning calculation unit, 208 determination unit, 300-302 antenna, 500 processing circuit, 501 memory, 502 CPU.

Claims (7)

アンテナからＬ１帯の信号及び他周波の信号を取得し、それらの信号を用いて観測データを生成する第１の受信部と、
前記アンテナからＬ１帯の信号及び補強情報用の他周波の信号を取得し、取得したＬ１帯の信号を用いて１周波測位を行うとともに、取得した他周波の信号を用いて補強データを生成する第２の受信部と、
前記第１の受信部が生成した観測データと、前記第２の受信部が生成した補強データとを用いてＣＬＡＳ補強２周波高精度測位を行う演算部と、
前記ＣＬＡＳ補強２周波高精度測位の測位結果と、前記１周波測位の測位結果とを用いて、前記ＣＬＡＳ補強２周波高精度測位の精度を判定する判定部とを備えることを特徴とする高精度測位装置。 A first receiver that obtains L1 band signals and other frequency signals from an antenna and generates observation data using those signals;
Acquire L1 band signal and other frequency signal for reinforcement information from the antenna, perform 1 frequency positioning using the acquired L1 band signal, and generate reinforcement data using the acquired other frequency signal A second receiving unit;
A calculation unit that performs CLAS-reinforced two-frequency high-precision positioning using observation data generated by the first receiving unit and reinforcing data generated by the second receiving unit;
A high accuracy comprising: a determination unit that determines the accuracy of the CLAST reinforced two-frequency high-precision positioning using the positioning result of the CLA-reinforced two-frequency high-precision positioning and the positioning result of the one-frequency positioning. Positioning device. アンテナからＬ１帯の信号及び他周波の信号を取得し、それらの信号を用いて観測データを生成する第１の受信部と、
前記アンテナからＬ１帯の信号及び補強情報用の他周波の信号を取得し、取得したＬ１帯の信号を用いて観測データを生成するとともに、取得した他周波の信号を用いて補強データを生成する第２の受信部と、
前記第１の受信部が生成した観測データと、前記第２の受信部が生成した補強データとを用いてＣＬＡＳ補強２周波高精度測位を行う第１の演算部と、
前記第２の受信部が生成した観測データと、前記第２の受信部が生成した補強データとを用いてＣＬＡＳ補強１周波高精度測位を行う第２の演算部と、
前記ＣＬＡＳ補強２周波高精度測位の測位結果と、前記ＣＬＡＳ補強１周波高精度測位の測位結果とを用いて、前記ＣＬＡＳ補強２周波高精度測位の精度を判定する判定部とを備えることを特徴とする高精度測位装置。 A first receiver that obtains L1 band signals and other frequency signals from an antenna and generates observation data using those signals;
Acquire L1 band signals and other frequency signals for reinforcement information from the antenna, generate observation data using the acquired L1 band signals, and generate reinforcement data using the acquired other frequency signals A second receiving unit;
A first computing unit that performs CLAS-reinforced two-frequency high-precision positioning using observation data generated by the first receiving unit and reinforcing data generated by the second receiving unit;
A second computing unit that performs CLAS-reinforced one-frequency high-precision positioning using observation data generated by the second receiving unit and reinforcing data generated by the second receiving unit;
And a determination unit that determines the accuracy of the CLA-reinforced 2-frequency high-precision positioning using the positioning result of the CLA-reinforced 2-frequency high-precision positioning and the positioning result of the CLA-reinforced 2-frequency high-precision positioning. A high-precision positioning device. 第１のアンテナからＬ１帯の信号及び他周波の信号を取得し、それらの信号を用いて観測データを生成する第１の受信部と、
第２のアンテナからＬ１帯の信号及び補強情報用の他周波の信号を取得し、取得したＬ１帯の信号を用いて観測データを生成するとともに、取得した他周波の信号を用いて補強データを生成する第２の受信部と、
前記第１の受信部が生成した観測データと、前記第２の受信部が生成した補強データとを用いてＣＬＡＳ補強２周波高精度測位を行う第１の演算部と、
前記第１の受信部が生成した観測データと、前記第２の受信部が生成した観測データと、前記ＣＬＡＳ補強２周波高精度測位の測位結果とを用いて相対測位を行う第２の演算部と、
前記ＣＬＡＳ補強２周波高精度測位の測位結果と、前記相対測位の測位結果とを用いて、前記ＣＬＡＳ補強２周波高精度測位の精度を判定する判定部とを備えることを特徴とする高精度測位装置。 A first receiver that obtains L1 band signals and other frequency signals from the first antenna and generates observation data using these signals;
The L1 band signal and the other frequency signal for reinforcement information are acquired from the second antenna, the observation data is generated using the acquired L1 band signal, and the reinforcement data is acquired using the acquired other frequency signal. A second receiver to generate;
A first computing unit that performs CLAS-reinforced two-frequency high-precision positioning using observation data generated by the first receiving unit and reinforcing data generated by the second receiving unit;
A second arithmetic unit that performs relative positioning using the observation data generated by the first receiver, the observation data generated by the second receiver, and the positioning result of the CLAS-reinforced two-frequency high-precision positioning When,
A high-accuracy positioning comprising: a determination unit that determines the accuracy of the CLA-reinforced 2-frequency high-precision positioning using the positioning result of the CLA-reinforced 2-frequency high-precision positioning and the positioning result of the relative positioning. apparatus. 第１のアンテナからＬ１帯の信号及び他周波の信号を取得し、それらの信号を用いて観測データを生成する第１の受信部と、
第２のアンテナからＬ１帯の信号及び補強情報用の他周波の信号を取得し、取得したＬ１帯の信号を用いて観測データを生成するとともに、取得した他周波の信号を用いて補強データを生成する第２の受信部と、
前記第１の受信部が生成した観測データと、前記第２の受信部が生成した補強データとを用いてＣＬＡＳ補強２周波高精度測位を行う第１の演算部と、
前記第１の受信部が生成した観測データと、前記第２の受信部が生成した観測データとを用いて２アンテナ高精度測位を行う第２の演算部と、
前記ＣＬＡＳ補強２周波高精度測位の測位結果と、前記２アンテナ高精度測位の測位結果とを用いて、前記ＣＬＡＳ補強２周波高精度測位の精度を判定する判定部とを備えることを特徴とする高精度測位装置。 A first receiver that obtains L1 band signals and other frequency signals from the first antenna and generates observation data using these signals;
The L1 band signal and the other frequency signal for reinforcement information are acquired from the second antenna, the observation data is generated using the acquired L1 band signal, and the reinforcement data is acquired using the acquired other frequency signal. A second receiver to generate;
A first computing unit that performs CLAS-reinforced two-frequency high-precision positioning using observation data generated by the first receiving unit and reinforcing data generated by the second receiving unit;
A second calculation unit that performs two-antenna high-precision positioning using observation data generated by the first reception unit and observation data generated by the second reception unit;
And a determination unit that determines the accuracy of the CLA-reinforced 2-frequency high-accuracy positioning using the positioning result of the CLA-reinforced 2-frequency high-accuracy positioning and the positioning result of the 2-antenna high-accuracy positioning. High precision positioning device. 前記第１の受信部が機能不全の際、前記第２の受信部が取得する少なくともＬ１帯の信号を用いた測位が継続されることを特徴とする請求項１から請求項４のうちのいずれか１項記載の高精度測位装置。   The positioning using at least the signal in the L1 band acquired by the second receiving unit when the first receiving unit is malfunctioning is continued. A high-precision positioning device according to claim 1. 前記第１の受信部と前記第２の受信部のハードウェア構成が同一であることを特徴とする請求項１から請求項５のうちのいずれか１項記載の高精度測位装置。   6. The high-precision positioning device according to claim 1, wherein hardware configurations of the first receiving unit and the second receiving unit are the same. 請求項１から請求項６のうちのいずれか１項記載の高精度測位装置と、
当該高精度測位装置に接続されたアンテナとを備えることを特徴とする高精度測位システム。 The high-precision positioning device according to any one of claims 1 to 6,
A high-precision positioning system comprising an antenna connected to the high-precision positioning device.
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