JP6634142B1 - Positioning system, server, positioning method, positioning target device, and mobile object - Google Patents

Abstract

A positioning system capable of performing high-accuracy real-time positioning of a positioning target even when the positioning target moves in a wide area. An observation information generated by a reference station receiving radio waves from an artificial satellite is received from a plurality of reference stations arranged at a plurality of known reference points. For each of the plurality of reference stations 40, positioning correction information is created based on the observation information received from the reference station 40, and stored in association with the position information of the reference station 40. The reference station 40 receives the observation information generated by receiving the radio wave of the artificial satellite 50 from the positioning target 20, and selects a plurality of reference stations 40 arranged near the positioning target 20 based on the observation information. Based on the observation information, the positioning correction information, and the position information of the selected plurality of reference stations 40 and the observation information of the positioning object 20, a plurality of pieces of position information of the positioning object 20 are calculated. Select one location information calculation result. [Selection diagram] Fig. 1

Description

  The present invention relates to a positioning system, a server, a positioning method, a positioning target device, and a mobile object that measure the position of a moving positioning target.

  2. Description of the Related Art Conventionally, a real-time kinematic (RTK) that receives a radio wave from a GNSS (Global Navigation Satellite System) satellite using a reference station (fixed station) arranged at a known position and measures the position of a positioning object in real time ) A positioning method is known (for example, refer to Patent Document 1). In this RTK positioning method, a reference station that has received a radio wave from an artificial satellite transmits carrier wave observation data to a positioning target. In the positioning target, the carrier observation data received from the reference station, the carrier observation data of its own device that received radio waves from the artificial satellite, and correction data (integer value bias) as positioning correction information determined by initialization processing in advance Based on this, the position coordinates of the moving object are calculated. According to the RTK positioning method, positioning of a positioning target can be performed with high accuracy of about several cm.

WO 2016/147569

  In the conventional RTK positioning method described above, it is not assumed that the positioning target moves across a plurality of reference stations, and correction data (integer value bias) is initialized when the positioning target moves and crosses the reference station. As a result, there is a problem that the high-accuracy positioning state cannot be maintained, and the positioning accuracy is reduced.

A server according to one embodiment of the present invention is a server used for position measurement of a moving positioning target. The server, from a plurality of reference stations arranged at each of a plurality of different known position coordinates from each other, a reference station communication unit that receives observation information generated by the reference station receiving radio waves of artificial satellites, and for each of the plurality of reference stations Based on the observation information received from the reference station, a correction information creating unit that creates positioning correction information used for position measurement of the positioning target, and the positioning correction information of each of the plurality of reference stations and the position information of the reference station. An information storage unit that stores the information in association with the positioning object communication unit that receives, from the positioning object, observation information generated by the positioning object receiving the radio wave of the artificial satellite, based on the observation information received from the positioning object; A reference station selection unit that selects a plurality of reference stations arranged at a position close to the positioning target, and observation information of the selected plurality of reference stations, Position includes a correction information and the position information, the based on the positioning target observation information, and a position information calculation unit to calculate the position information of the positioning target.
In the server, the position information calculation unit calculates a plurality of pieces of position information of the positioning target based on the observation information, the positioning correction information and the position information of the selected plurality of reference stations, and the positioning target observation information. Then, one of the calculation results of the position information may be selected from the calculation results of the plurality of position information. Here, the calculation result of the position information with the highest accuracy may be selected from the calculation results of the plurality of position information.
In the server, the positioning target communication unit may transmit a calculation result of the position information of the positioning target to the positioning target.

  A server according to another aspect of the present invention is a server used for position measurement of a moving positioning target. The server, from a plurality of reference stations arranged at each of a plurality of different known position coordinates from each other, a reference station communication unit that receives observation information generated by the reference station receiving radio waves of artificial satellites, and for each of the plurality of reference stations Based on the observation information received from the reference station, a correction information creating unit that creates positioning correction information used for position measurement of the positioning target, and the positioning correction information of each of the plurality of reference stations and the position information of the reference station. An information storage unit that stores the information in association with the positioning object communication unit that receives, from the positioning object, observation information generated by the positioning object receiving the radio wave of the artificial satellite, based on the observation information received from the positioning object; A reference station selection unit that selects a plurality of reference stations arranged at a position close to the positioning target, and observation information of the selected plurality of reference stations, The position correction information and the position information and a selection reference station information transmitting unit that transmits to the positioning target.

In the server, the observation information received from the reference station may include carrier phase observation data of a radio wave received from the artificial satellite and position coordinate data of the reference station.
In the server, at least one of the observation information of the reference station and the observation information of the positioning target is generated by a plurality of phase differences obtained by simultaneously observing a phase of a carrier wave of the artificial satellite radio wave by a plurality of receivers. Information.
In the server, the information storage unit may store the positioning correction information in a plurality of types of formats.
In the server, the positioning target may be a mobile station of mobile communication or a terminal device of a wireless LAN.
In the server, the reference station may be provided in a mobile communication base station or a wireless LAN access point device.

A positioning system according to still another aspect of the present invention includes any of the servers and a plurality of reference stations arranged at a plurality of mutually different known position coordinates.
A positioning system according to still another aspect of the present invention includes any one of the servers and a positioning target.
A positioning system according to still another aspect of the present invention includes any of the servers, a plurality of reference stations arranged at a plurality of mutually different known position coordinates, and a positioning target.

A positioning method according to still another aspect of the present invention is a positioning method for measuring the position of a moving positioning target. Positioning method, from a plurality of reference stations arranged at each of a plurality of different known position coordinates from each other, receiving the observation information generated by the reference station receives the radio wave of the artificial satellite, for each of the plurality of reference stations, Based on the observation information received from the reference station, creating positioning correction information used for measuring the position of the positioning target, and storing the positioning correction information of each of the plurality of reference stations in association with the position information of the reference station. Receiving observation information generated by the positioning target by receiving the radio wave of the artificial satellite from the positioning target, and arranging the artificial satellite at a position close to the positioning target based on the observation information received from the positioning target. Selecting a plurality of reference stations, and observing information, positioning correction information and position information of the selected plurality of reference stations, and Based on the observation information, including, and calculating the position information of the positioning target.
A positioning method according to still another aspect of the present invention is a positioning method for measuring the position of a moving positioning target. Positioning method, from a plurality of reference stations arranged at each of a plurality of different known position coordinates from each other, receiving the observation information generated by the reference station receives the radio wave of the artificial satellite, for each of the plurality of reference stations, Based on the observation information received from the reference station, creating positioning correction information used for measuring the position of the positioning target, and storing the positioning correction information of each of the plurality of reference stations in association with the position information of the reference station. Receiving observation information generated by the positioning target by receiving the radio wave of the artificial satellite from the positioning target, and arranging the artificial satellite at a position close to the positioning target based on the observation information received from the positioning target. Selecting a plurality of reference stations, and the observation information, the positioning correction information and the position information of the selected plurality of reference stations to the positioning target. Including and to trust, the.
A positioning method according to still another aspect of the present invention is a positioning method for measuring the position of a moving positioning target. Positioning method, from a plurality of reference stations arranged at each of a plurality of different known position coordinates from each other, receiving the observation information generated by the reference station receives the radio wave of the artificial satellite, for each of the plurality of reference stations, Based on the observation information received from the reference station, creating positioning correction information used for measuring the position of the positioning target, and storing the positioning correction information of each of the plurality of reference stations in association with the position information of the reference station. That, receiving the radio wave of the artificial satellite to generate observation information, and selecting a plurality of reference stations located at a position close to the positioning target based on the observation information of the positioning target, Based on the observation information of the selected plurality of reference stations, positioning correction information and position information, and the observation information of the positioning target, the position information of the positioning target Including Sun and be, a.

In the positioning method, calculating the position information of the positioning target is based on the observation information of the selected plurality of reference stations, positioning correction information and position information, and the observation information of the positioning target. The method may include calculating a plurality of pieces of position information and selecting any one of the calculation results of the pieces of position information from the calculation results of the plurality of pieces of position information.
In the positioning method, the observation information received from the reference station may include carrier phase observation data of a radio wave received from the artificial satellite and position coordinate data of the reference station.
In the positioning method, at least one of the observation information of the reference station and the observation information of the positioning target is generated by a plurality of phase differences obtained by simultaneously observing a phase of a carrier wave of the radio wave of the artificial satellite by a plurality of receivers. May be.

A positioning target device according to still another aspect of the present invention receives observation information generated by the reference station receiving radio waves of an artificial satellite from a plurality of reference stations arranged at a plurality of different known position coordinates. A reference station communication unit to perform, for each of the plurality of reference stations, based on the observation information received from the reference station, a correction information creating unit that creates positioning correction information to be used for position measurement of the own device, and each of the plurality of reference stations An information storage unit that stores the positioning correction information in association with the position information of the reference station, an observation information generation unit that receives the radio wave of the artificial satellite to generate observation information, and that based on the observation information of the own device, A reference station selecting unit that selects a plurality of reference stations arranged at positions close to the own device, and observation information, positioning correction information and position information of the selected plurality of reference stations, and Based on the observation information of the device, and a position information calculation unit to calculate the position information of the own device.
In the positioning target device, the position information calculation unit, based on the observation information of the selected plurality of reference stations, positioning correction information and position information and the observation information of the own device, the plurality of position information of the own device May be calculated, and any one of the calculation results of the position information may be selected from the plurality of calculation results of the position information.
In the positioning target device, the observation information received from the reference station may include carrier phase observation data of a radio wave received from the artificial satellite and position coordinate data of the reference station.
In the positioning target device, at least one of the observation information of the reference station and the observation information of the own device includes a plurality of phase differences obtained by simultaneously observing the phase of the carrier wave of the radio wave of the artificial satellite with a plurality of receivers. May be generated.
The positioning target device may be a mobile station of mobile communication or a terminal device of a wireless LAN.

  A moving object according to still another aspect of the present invention is a moving object including the positioning target device.

  According to the present invention, it is possible to perform high-accuracy real-time positioning of a positioning target even when the positioning target moves in a wide area.

FIG. 1 is a functional block diagram illustrating an example of a main configuration of a positioning system according to an embodiment of the present invention. FIG. 2 is a sequence diagram showing an example of a positioning process in the positioning system of FIG. FIG. 9 is a functional block diagram illustrating an example of a main configuration of a target device according to another embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a functional block diagram illustrating an example of a main configuration of a positioning system according to an embodiment of the present invention. In FIG. 1, a positioning system 10 is arranged at a server 30 used for position measurement of a moving positioning target device (hereinafter, referred to as “target device”) 20 and at a plurality of different known position coordinates (reference points). And a plurality of reference stations 40. The known position coordinates are, for example, known latitude, longitude, and altitude. The known position coordinates may be, for example, coordinate positions (X, Y, Z) in a rectangular coordinate system defining a reference point.

  In the present embodiment, a case will be described in which an RTK (real-time kinematic) positioning method is used as the positioning method of the target device 20. However, the present invention uses the position information of the current position of the moving target device as an artificial satellite. The present invention can also be applied to a case where a positioning method other than the RTK positioning method, which is calculated using observation information of a reference station that receives radio waves, is used.

  The target device 20 in the present embodiment is, for example, a GNSS receiver that receives a radio wave from one or a plurality of artificial satellites (for example, four artificial satellites) 50 such as a GPS (Global Positioning System) or the like. This is an apparatus (hereinafter, also referred to as “GNSS user apparatus”) including an observation information generation unit 220 that generates observation information from a received signal.

  The target device 20 is, for example, a mobile station (also referred to as “mobile device”, “user device”, or the like) capable of communicating via a mobile communication network, or a mobile base station (“eNodeB”, “g-NodeB”). Etc.). Further, the target device 20 may be a moving body itself that moves, or may be a device that is incorporated in the moving body. The moving object may be, for example, a vehicle moving on the ground, an aircraft moving in the sky, a ship moving in water such as the sea, or the like.

  The target device 20 may be a terminal device of a wireless LAN (for example, WiFi). In this case, the positioning correction information (for example, an integer value bias) of the server 30 and the calculation result of the position information of the positioning target are transmitted from the server 30 via a wireless LAN access point device (for example, a WiFi router) to the wireless LAN terminal. Can be sent to the device.

  The artificial satellite 50 may be a satellite of a global orbit satellite group such as GLONASS, Galileo, or BeiDou, or a satellite of a specific regional satellite group such as QZSS or IRNSS, in addition to a GPS artificial satellite. Further, the artificial satellite 50 may be an artificial satellite of a reinforcement satellite group such as WAAS, EGNOS, MSAS, and GAGAN.

  The radio wave received from the artificial satellite 50 is, for example, a radio wave of a predetermined frequency in a 1.1 GHz band, a 1.2 GHz band, a 1.5 GHz band, or a 2.4 GHz band. For example, in the case of a GPS artificial satellite, L1 radio waves (frequency: 1575.42 MHz, wavelength: about 0.19 m) and L2 radio waves (1227.60 MHz: about 0.24 m) can be received. The radio wave transmitted from the artificial satellite 50 is obtained by code-modulating a carrier of a predetermined frequency with predetermined data including a positioning code (C / A code, P code) and a navigation message at a predetermined time timing. For example, in the case of a GPS artificial satellite, the L1 radio wave is subjected to decoding modulation of a positioning code (C / A code and P code) and a navigation message, and the L2 radio wave is code-modulated only by the P code of the positioning code.

  The radio waves simultaneously received from the artificial satellite 50 may be radio waves of one frequency, radio waves of two frequencies (for example, 1.5 GHz, 1.2 GHz), or radio waves of three or more frequencies. For example, when radio waves of two frequencies are received, when the distance between the reference station 40 and the target device 20 is 10 km or more (for example, when the target device moves in a wide area of about 20 km to 40 km around the reference station 40) ), The position accuracy of the target device 20 measured by the RTK (real-time kinematic) positioning method is as high as several cm (for example, 2 cm + 1 ppm).

  The plurality of reference stations 40 (hereinafter, also referred to as “GNSS reference station devices”) are distributed and arranged in an area where the target device 20 may move. The plurality of reference stations 40 are arranged so that the number of reference stations 40 whose distance to the moving target device 20 is equal to or less than a predetermined distance (for example, 20 km or less, or 40 km or less) is 2 or more. The predetermined distance is, for example, a distance at which the position accuracy of the target device 20 measured by the RTK positioning method is about several cm (for example, 2 cm + 1 ppm). Each of the plurality of reference stations 40 may be provided at a position of a base station for mobile communication or a position of an access point device (for example, a WiFi router) of a wireless LAN. In this case, the reference station 40 may be incorporated in a base station device of a mobile communication base station, or may be incorporated in a wireless LAN access point device.

  Each of the plurality of reference stations 40 receives a radio wave from one or a plurality of artificial satellites (for example, four artificial satellites) 50 of the GNSS such as GPS at a predetermined observation timing, and generates observation information. The observation timing of each of the plurality of reference stations 40 is synchronized with the observation timing at which the target device 20 receives a radio wave from one or more artificial satellites (for example, four artificial satellites) 50 such as GPS and generates observation information. I have. This observation timing is, for example, a time interval of 2 seconds, 1 second, or a time interval of less than 1 second.

  The observation information generated by the reference station 40 is, for example, information used in the RTK positioning method, and includes carrier phase observation data that is received RAW data generated by the reference station 40 receiving radio waves from the artificial satellite 50. The observation information of each of the plurality of reference stations 40 is transmitted to the server 30 together with the position coordinate data of the reference stations 40. The observation information generated by the reference station 40 may include pseudorange observation data between the artificial satellite 50 and the reference station 40 calculated based on the reception result of the radio wave received from the artificial satellite 50 by the reference station 40.

  The server 30 includes a reference station information processing unit 31 and a positioning target information processing unit 32. The reference station information processing section 31 includes a reference station communication section 310, a correction information creation section 320, a reference station information creation section 330, and an information storage section 340. The positioning target information processing unit 32 includes a positioning target communication unit 350, a reference station selection unit 360, and a position information calculation unit 370.

  The reference station communication unit 310 receives information including carrier phase observation data from each of the plurality of reference stations 40 via a high-speed communication line (for example, a dedicated optical communication line).

  The information received from each of the plurality of reference stations 40 includes, for example, carrier phase observation data of radio waves received from the artificial satellite 50 and position coordinate data of the reference station 40. The information received from the reference station 40 may include the pseudorange observation data described above.

  The correction information creating unit 320 determines, for each of the plurality of reference stations 40, positioning correction information and state information (for example, when the positioning correction information is used) in a predetermined format used for position measurement of the target device 20 based on the observation information received from the reference station 40. (Information identifying whether or not it is possible) is created. The positioning correction information is, for example, information used in the RTK positioning method, and includes data of an integer bias as predetermined positioning correction information. The integer bias is a value of an integer part of the number of wave numbers of the carrier at the distance between the artificial satellite 50 and the receiver, and is a value that cannot be determined only by observing the phase of the carrier.

  The integer value bias can be determined and created by various methods. For example, the integer value bias can be determined as follows using the movement of the artificial satellite 50. On the basis of the known position information of the reference station 40 and the orbit information of the artificial satellite 50, the artificial satellite 50 and the reference station 40 (receiver) determine the plurality of positions of the artificial satellite 50 moving at a certain initialization processing time (for example). Calculating a plurality of candidate points having a distance between the candidate points, selecting a distance of the candidate point that does not change even when the artificial satellite 50 moves as a true distance, and determining an integer bias from the distance of the selected candidate point. Can be.

  The format of the positioning correction information may be, for example, an RTCM (Radio Technical Commission for Maritime Services) format including carrier phase observation data and position coordinate data of the reference station 40 used in the RTK positioning method. The format of the positioning correction information may be a plurality of types.

  Based on the observation information received from the reference station 40, the reference station information creation unit 330 determines the name, position information (for example, longitude, latitude, altitude) of the reference point at which the reference station 40 is installed, and status based on the observation information received from the reference station 40. Reference station information such as information (for example, information for identifying whether or not the reference station 40 is usable) is created.

  The information storage unit (DB) 340 stores the name of the reference station or the reference point, known position information, and state information in association with the management number for each of the plurality of reference stations 40 as illustrated in the reference station data table of Table 1. The information is stored in association with each other.

  In addition, the information storage unit (DB) 340 associates a plurality of formats (for example, three types of RTCM formats) with the management numbers for each of the plurality of reference stations 40 as illustrated in the correction data table of Table 2. Is stored in association with each other.

  "1" of the status information in Tables 1 and 2 indicates that the corresponding reference station 40 and the positioning correction information are available, respectively, and "2" indicates that the corresponding reference station 40 and the positioning correction information are unavailable. Is in the state of. Further, the name and known position information of each reference station in Table 1 and the positioning correction information in Table 2 are associated with each other via a management number.

  By storing the positioning correction information in a plurality of types of formats as shown in Table 2, even if the format of the positioning correction information used for calculating the current position of the target device 20 differs depending on the type of the target device 20, etc. The current position of the target device 20 can be reliably calculated by selecting the positioning correction information of the format to be performed.

  The positioning target communication unit 350 transmits observation information generated by the target device (GNSS user device) 20 by receiving a radio wave from the artificial satellite 50 via a communication network (for example, the Internet or a mobile communication network) 60 to the target device 20. Receive from. The observation information received from the target device 20 includes, for example, carrier phase observation data that is received RAW data generated by the target device 20 receiving radio waves from the artificial satellite 50. The observation information may include identification information (ID) of the target device (GNSS user device) 20.

  The observation timing at which the target device 20 receives radio waves from the artificial satellite 50 and generates carrier phase observation data is synchronized with the observation timing at which the plurality of reference stations 40 receive radio waves from the artificial satellite 50 and generate carrier phase observation data. ing. This observation timing is, for example, a time interval of 2 seconds, 1 second, or a time interval of less than 1 second.

  In addition, the positioning target communication unit 350 transmits the calculation result of the position information (for example, latitude, longitude, and altitude) of the target device 20 to the target device 20 via a communication network (for example, the Internet or a mobile communication network) 60. .

  The reference station selection unit 360 selects at least two or more reference stations 40 arranged at positions close to the target device 20 based on the observation information received from the target device 20. The selection of the reference station 40 may be performed so as to include the reference station 40 located in the movement prediction area of the target device 20. For example, the position information of the target device 20 may be obtained, the movement prediction area of the target device 20 may be determined from the change in the position information, and the reference station 40 may be selected so as to include the reference station 40 located in the movement prediction area. .

  The position information calculation unit 370 calculates the position information (for example, latitude) of the target device 20 based on the carrier phase observation data of the selected plurality of reference stations 40, the positioning correction information and the position information, and the observation information of the target device 20. , Longitude, altitude). The position information of the target device 20 to be calculated may be, for example, a coordinate position (X, Y, Z) in a rectangular coordinate system defining a reference point.

  The position information of the target device 20 can be calculated as follows, for example. First, the path difference of the radio wave between the artificial satellite 50 and each of the reference station 40 and the target device 20 is calculated based on the carrier phase observation data and the integer value bias of the selected reference station 40 and the carrier phase observation data of the target device 20. Then, a base line vector from the reference station 40 toward the target device 20 is determined from the calculated path difference. The position information of the target device 20 is calculated based on the base line vector and the known position information of the reference station 40.

  The position information calculation unit 370 calculates a plurality of pieces of position information of the target device 20 based on the positioning correction information and the position information of the selected plurality of reference stations 40 and the observation information of the target device 20, and calculates the plurality of pieces of position information. May be selected from any one of the calculation results. For example, the calculation result of the position information with the highest accuracy may be selected from the calculation results of the plurality of position information. When selecting the calculation result of the position information, in order to ensure the reliability of the calculation result, for example, a Kalman filter or an optimization process may be combined with the selection process.

  When the target device 20 calculates the position information of the own device without the server 30 calculating the position information, the positioning target communication unit 350 of the server 30 transmits the position correction information and the position information of the selected plurality of reference stations 40. It may function as a selected reference station information transmitting unit that transmits information to the target device 20.

  In the positioning system 10 having the above-described configuration, at least one of the observation information of the reference station 40 and the observation information of the target device 20 simultaneously adjusts the phase of the carrier of the radio wave repeatedly transmitted from the artificial satellite 50 at a predetermined time by a plurality of receivers. Information generated by a plurality of phase differences obtained by observation (for example, information on double phase differences) may be used. By using the information on the double phase difference, the clock error of the artificial satellite 50 and the clock errors of the reference station 40 and the target device 20 can be removed. Further, when the distance (base line length) between the reference station 40 having a receiver for receiving the radio wave from the artificial satellite 50 and the target device 20 is sufficiently short (for example, 40 km or less), the reference station 40 and the target device 20 The propagation delay error in the ionosphere and the convection layer through which the radio wave from the artificial satellite 50 passes, and the orbit error of the artificial satellite 50, which are included in the pseudorange observation data as errors of the same value, can be removed.

  FIG. 2 is a sequence diagram showing an example of the positioning processing in the positioning system 10 of FIG. In FIG. 2, the positioning process of the present embodiment includes a process of receiving and storing reference station information (S100), and a highly accurate real-time positioning process of the current position of the target device 20 (S200). In FIG. 2, the reference station communication unit 310, the information storage unit (DB) 340, and the positioning target communication unit 350 of the server 30 are omitted for simplification of illustration.

  In the process of receiving and storing the reference station information in FIG. 2 (S100), when the server 30 receives the reference station information and the observation information (carrier phase observation data that is the received RAW data) for each of the plurality of reference stations 40 to be managed ( S101, S102), the reference station information creation unit 330 of the server 30 creates reference station information based on the observation information received from the reference station 40, and associates the reference station 40 with an identifiable management number, and stores the information storage unit (DB) 340. (S103).

  In addition, the correction information creation unit 320 of the server 30 creates positioning correction information in a predetermined format used for position measurement of the target device 20 based on the observation information received from the reference station 40, and assigns the management number that can identify the reference station 40 to a management number. The information is stored in the information storage unit (DB) 340 in association with each other (S104).

  In the high-accuracy real-time positioning process (S200) of FIG. 2, when the server 30 receives observation information created by receiving radio waves from the artificial satellite 50 at the same timing as the reference station 40 (S201), the position information calculation unit of the server 30 370 calculates the approximate position of the target device 20 (S202), and based on the calculation result of the approximate position, causes the reference station selecting unit 360 to select a plurality of reference stations 40 located near the target device 20 and in the movement prediction area. Request (S203).

  The reference station selection unit 360, having received the base station selection request from the position information calculation unit 370, searches the information storage unit (DB) 340 based on the calculation result of the approximate position of the target device 20, and moves near and moves to the target device 20. A plurality of reference stations 40 located in the prediction area are selected, and reference station information (reference station name, carrier phase observation data, position information) and positioning correction information of the selected plurality of reference stations 40 are extracted from the information storage unit (DB) 340. (S204 to S206). The reference station selection unit 360 sends the base station information and the positioning correction information of the selected reference stations 40 to the position information calculation unit 370 (S207).

  The position information calculation unit 370 determines a target based on the observation information (carrier wave observation data), the position information and the positioning correction information of the selected plurality of reference stations 40, and the observation information (carrier wave observation data) of the target device 20. The high-accuracy position information of the device 20 is calculated (S208).

  The position information calculation unit 370 transmits the calculation result of the high-accuracy position information to the target device (user GNSS device) 20 (S209).

  The target device 20 can output the highly accurate current position information of the own device received from the server 30 and provide the information to the user (S210). The highly accurate current position information of the own device received from the server 30 can be used by various applications running on the target device 20.

  As described above, according to the present embodiment, at the time of the positioning processing for measuring the current position of the moving target device (positioning target) 20, the first reference station close to the target device 20 and the first reference station located in the movement prediction area of the target device 20. A plurality of reference stations including two reference stations are selected to calculate the current position by the RTK positioning method. Therefore, even when the target device 20 moves in a wide area across a plurality of reference stations so that the target device 20 moves from a position close to the first reference station to a position close to the second reference station during the positioning process, the initialization process of the time-consuming reference station is performed. Without performing, it is possible to use highly accurate position information calculated for the second reference station near the destination. As described above, even when the target device 20 moves in a wide area so as to straddle a plurality of reference stations, highly accurate real-time positioning of the target device 20 can be performed.

  The functions of the server 30 in FIGS. 1 and 2 may be provided in an MEC (Mobile Edge Computing) server as a data processing device provided in a base station of a mobile communication network.

  FIG. 3 is a functional block diagram illustrating an example of a main configuration of a target device (user GNSS device) 20 according to another embodiment of the present invention. In the embodiment of FIG. 1, the server 30 that manages the reference station information such as the positioning correction information of the plurality of reference stations 40 is provided separately from the target device 20, but in the embodiment of FIG. It is provided in a possible target device 20.

  In FIG. 3, the target device 20 may be, for example, a mobile station or a mobile base station that can communicate via a mobile communication network. Further, the target device 20 may be a moving body itself that moves, or may be a device that is incorporated in the moving body. The moving object may be, for example, a vehicle moving on the ground, an aircraft moving in the sky, a ship moving in water such as the sea, or the like.

  The correction information creation unit 2320, the reference station information creation unit 2330 and the information storage unit 2340 in the reference station information processing unit 231 of the target device 20 in FIG. The configuration is the same as that of the correction information creation unit 320, the reference station information creation unit 330 and the information storage unit 340 in the processing unit 31, and the reference station selection unit 360 in the positioning target information processing unit 32, and thus the description thereof is omitted.

  In FIG. 3, since the target device 20 is a mobile device, the reference station communication unit 2310 transmits the carrier wave phase from each of the plurality of reference stations 40 via the mobile communication network 70 including a high-speed wireless communication line and capable of high-speed data communication. Receive information including observation data.

  The position information calculation unit 2370 is based on the carrier phase observation data of the selected plurality of reference stations 40, the positioning correction information and the position information, and the observation information of the GNSS receiver 210 that receives the radio wave from the artificial satellite 50, The position information of the target device 20 is calculated.

  The position information output unit 2380 can output the high-accuracy position information of the own device calculated by the position information calculation unit 2370 and provide the user with the high-accuracy position information.

  According to the embodiment of FIG. 3, even when the target device 20 moves in a wide area so as to straddle a plurality of reference stations, the target device 20 can perform its own high-precision real-time positioning without using a server.

  The processing steps described in this specification and components such as a server, a target device (a user device, a mobile station, a communication terminal, a terminal device, and the like), a reference station, a base station, and the like can be implemented by various means. . For example, these steps and components may be implemented in hardware, firmware, software, or a combination thereof.

  For hardware implementation, entities (eg, relay communication station, feeder station, gateway station, base station, base station device, relay communication station device, terminal device (user device, mobile station, communication terminal), management device, monitoring device) , A remote control device, a server, a hard disk drive device, or an optical disk drive device) may include one or more application-specific ICs (ASICs) such as processing units used to implement the processes and components. , Digital signal processor (DSP), digital signal processor (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), processor, controller, microcontroller, microprocessor, electronic device, book The functions described in the specification Designed other electronic units to the line, a computer, or may be implemented in a combination thereof.

  Also, for firmware and / or software implementations, the processing units or other means used to implement the components may include programs (eg, procedures, functions, modules, instructions) that perform the functions described herein. , Etc.). In general, any computer / processor readable medium that explicitly embodies firmware and / or software code will be used as a means, such as a processing unit, to implement the steps and components described herein. May be used to implement. For example, firmware and / or software code may be stored in a memory, for example, in a control device, and executed by a computer or a processor. The memory may be implemented inside a computer or a processor, or may be implemented outside a processor. The firmware and / or software code includes, for example, a random access memory (RAM), a read only memory (ROM), a nonvolatile random access memory (NVRAM), a programmable read only memory (PROM), and an electrically erasable PROM (EEPROM). ), A FLASH memory, a floppy disk, a compact disk (CD), a digital versatile disk (DVD), a magnetic or optical data storage device, etc. Good. The code may be executed by one or more computers and processors, and may cause the computers and processors to perform the functional aspects described herein.

  Further, the medium may be a non-transitory recording medium. Further, the code of the program may be executable by being read by a computer, a processor, or another device or an apparatus machine, and the format is not limited to a specific format. For example, the code of the program may be any of a source code, an object code, and a binary code, and may be a mixture of two or more of those codes.

  Also, descriptions of the embodiments disclosed herein are provided to enable one of ordinary skill in the art to make or use the present disclosure. Various modifications to the present disclosure will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other variations without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is not limited to the examples and designs described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

10 positioning system 20 target device (positioning target)
Reference Signs List 30 server 31 reference station information processing unit 32 positioning target information processing unit 40 reference station 50 artificial satellite 210 GNSS receiver 220 observation information generation unit 231 reference station information processing unit 232 positioning target information processing unit 310 reference station communication unit 320 correction information generation unit 330 reference station information Creation unit 340 Information storage unit (DB)
350 Positioning target communication section 360 Reference station selection section 370 Position information calculation section 2310 Reference station communication section 2320 Correction information creation section 2330 Reference station information creation section 2340 Information storage section (DB)
2360 Reference station selection unit 2370 Location information calculation unit 2380 Location information output unit

Claims (26)

A server used for position measurement of a moving positioning target,
From a plurality of reference stations arranged at each of a plurality of different known position coordinates from each other, a reference station communication unit that receives observation information generated by the reference station receiving a radio wave of an artificial satellite,
For each of the plurality of reference stations, based on the observation information received from the reference station, a correction information creating unit that creates positioning correction information used for position measurement of the positioning target,
An information storage unit that stores the positioning correction information of each of the plurality of reference stations, the position information of the reference station reference station in association with the status information identifying whether available active state,
A positioning target communication unit that receives, from the positioning target, observation information generated by the positioning target receiving the radio wave of the artificial satellite,
A reference station selection section for selecting a plurality of reference stations in the position available is arranged an active state closer to the positioning target on the basis of said observation information received from the positioning target and the state information,
Observation information of the selected plurality of reference stations, positioning correction information and position information, based on the observation information of the positioning target, a position information calculation unit that calculates the position information of the positioning target,
A server comprising: The server of claim 1,
The position information calculation unit calculates the plurality of position information of the positioning target based on the observation information of the selected plurality of reference stations, the positioning correction information and the position information, and the observation information of the positioning target. server, characterized in that the position information of the calculation result of selecting a calculation result of the position information most high precision.   A server used for position measurement of a moving positioning target,
  From a plurality of reference stations arranged at each of a plurality of different known position coordinates from each other, a reference station communication unit that receives observation information generated by the reference station receiving a radio wave of an artificial satellite,
  For each of the plurality of reference stations, based on the observation information received from the reference station, a correction information creating unit that creates positioning correction information used for position measurement of the positioning target,
  An information storage unit that stores the positioning correction information of each of the plurality of reference stations in association with the position information of the reference station,
  A positioning target communication unit that receives, from the positioning target, observation information generated by the positioning target receiving the radio wave of the artificial satellite,
  A reference station selection unit that selects a plurality of reference stations located at positions close to the positioning target based on the observation information received from the positioning target,
  Based on the observation information of the selected plurality of reference stations, positioning correction information and position information, and the observation information of the positioning target, based on the observation information of the positioning target, comprising a position information calculation unit that calculates the position information of the positioning target,
  The position information calculation unit calculates the plurality of position information of the positioning target based on the observation information of the selected plurality of reference stations, the positioning correction information and the position information, and the observation information of the positioning target. A server that selects the most accurate position information calculation result from the position information calculation results.   In the server according to any one of claims 1 to 3,
  The information storage unit stores the positioning correction information in a plurality of types of formats corresponding to a plurality of types of measurement targets.   A server used for position measurement of a moving positioning target,
  From a plurality of reference stations arranged at each of a plurality of different known position coordinates from each other, a reference station communication unit that receives observation information generated by the reference station receiving a radio wave of an artificial satellite,
  For each of the plurality of reference stations, based on the observation information received from the reference station, a correction information creating unit that creates positioning correction information used for position measurement of the positioning target,
  An information storage unit that stores the positioning correction information of each of the plurality of reference stations in association with the position information of the reference station,
  A positioning target communication unit that receives, from the positioning target, observation information generated by the positioning target receiving the radio wave of the artificial satellite,
  A reference station selection unit that selects a plurality of reference stations located at positions close to the positioning target based on the observation information received from the positioning target,
  Based on the observation information of the selected plurality of reference stations, positioning correction information and position information, and the observation information of the positioning target, based on the observation information of the positioning target, comprising a position information calculation unit that calculates the position information of the positioning target,
  The information storage unit stores the positioning correction information in a plurality of types of formats corresponding to a plurality of types of measurement targets. The server according to any one of claims 1 to 5 ,
The server, wherein the positioning target communication unit transmits a calculation result of the position information of the positioning target to the positioning target. A server used for position measurement of a moving positioning target,
From a plurality of reference stations arranged at each of a plurality of different known position coordinates from each other, a reference station communication unit that receives observation information generated by the reference station receiving a radio wave of an artificial satellite,
For each of the plurality of reference stations, based on the observation information received from the reference station, a correction information creating unit that creates positioning correction information used for position measurement of the positioning target,
An information storage unit that stores the positioning correction information of each of the plurality of reference stations, the position information of the reference station reference station in association with the status information identifying whether available active state,
A positioning target communication unit that receives, from the positioning target, observation information generated by the positioning target receiving the radio wave of the artificial satellite,
A reference station selection section for selecting a plurality of reference stations in the position available is arranged an active state closer to the positioning target on the basis of said observation information received from the positioning target and the state information,
A selected reference station information transmitting unit that transmits the observation information of the selected plurality of reference stations, positioning correction information and position information to the positioning target,
A server comprising:   The server of claim 7,
  The information storage unit stores the positioning correction information in a plurality of types of formats corresponding to a plurality of types of measurement targets.   A server used for position measurement of a moving positioning target,
  From a plurality of reference stations arranged at each of a plurality of different known position coordinates from each other, a reference station communication unit that receives observation information generated by the reference station receiving a radio wave of an artificial satellite,
  For each of the plurality of reference stations, based on the observation information received from the reference station, a correction information creating unit that creates positioning correction information used for position measurement of the positioning target,
  An information storage unit that stores the positioning correction information of each of the plurality of reference stations in association with position information of the reference station,
  A positioning target communication unit that receives, from the positioning target, observation information generated by the positioning target receiving the radio wave of the artificial satellite,
  A reference station selection unit that selects a plurality of reference stations located at positions close to the positioning target based on the observation information received from the positioning target,
  A selected reference station information transmitting unit that transmits observation information, positioning correction information, and position information of the selected plurality of reference stations to the positioning target,
  The information storage unit stores the positioning correction information in a plurality of types of formats corresponding to a plurality of types of measurement targets. The server according to any one of claims 1 to 9 ,
The server, wherein the positioning target is a mobile station of mobile communication. The server according to any one of claims 1 to 10 ,
The server, wherein the reference station is provided in a mobile communication base station. A positioning system comprising: the server according to any one of claims 1 to 11 ; and a plurality of reference stations and measurement targets arranged at a plurality of different known position coordinates.   A positioning method for measuring the position of a moving positioning target,
  From a plurality of reference stations arranged at each of a plurality of different known position coordinates from each other, receiving the observation information generated by the reference station receives radio waves of artificial satellites,
  For each of the plurality of reference stations, based on the observation information received from the reference station, to create positioning correction information used for position measurement of the positioning target,
  Storing the positioning correction information of each of the plurality of reference stations in association with position information of the reference station and state information identifying whether the reference station is in an active state or not,
  Receiving from the positioning target the observation information generated by the positioning target receiving the radio wave of the artificial satellite,
  Based on the state information and the observation information received from the positioning target, to select a plurality of reference stations in an active state that is available and located at a position close to the positioning target,
  Based on the observation information of the selected plurality of reference stations, positioning correction information and position information, and the observation information of the positioning target, calculating the position information of the positioning target,
A positioning method comprising: A positioning method for measuring the position of a moving positioning target,
From a plurality of reference stations arranged at each of a plurality of different known position coordinates from each other, receiving the observation information generated by the reference station receives radio waves of artificial satellites,
For each of the plurality of reference stations, based on the observation information received from the reference station, to create positioning correction information used for position measurement of the positioning target,
Storing the positioning correction information of each of the plurality of reference stations in association with position information of the reference station,
Receiving from the positioning target the observation information generated by the positioning target receiving the radio wave of the artificial satellite,
Selecting a plurality of reference stations located at positions close to the positioning target based on the observation information received from the positioning target,
Observation information of the selected plurality of reference stations, positioning correction information and position information, and, based on the observation information of the positioning target, calculating a plurality of position information of the positioning target,
Selecting the most accurate position information calculation result from the plurality of position information calculation results,
A positioning method comprising:   A positioning method for measuring the position of a moving positioning target,
  From a plurality of reference stations arranged at each of a plurality of different known position coordinates from each other, receiving the observation information generated by the reference station receives radio waves of artificial satellites,
  For each of the plurality of reference stations, based on the observation information received from the reference station, to create positioning correction information used for position measurement of the positioning target,
  The positioning correction information of each of the plurality of reference stations, in association with the position information of the reference station, storing in a plurality of types of formats corresponding to a plurality of types of measurement objects,
  Receiving from the positioning target the observation information generated by the positioning target receiving the radio wave of the artificial satellite,
  Selecting a plurality of reference stations located at positions close to the positioning target based on the observation information received from the positioning target,
  Based on the observation information of the selected plurality of reference stations, positioning correction information and position information, and the observation information of the positioning target, calculating the position information of the positioning target,
A positioning method comprising: A positioning method for measuring the position of a moving positioning target,
From a plurality of reference stations arranged at each of a plurality of different known position coordinates from each other, receiving the observation information generated by the reference station receives radio waves of artificial satellites,
For each of the plurality of reference stations, based on the observation information received from the reference station, to create positioning correction information used for position measurement of the positioning target,
Storing the positioning correction information of each of the plurality of reference stations in association with position information of the reference station and state information identifying whether the reference station is in an active state or not ,
Receiving from the positioning target the observation information generated by the positioning target receiving the radio wave of the artificial satellite,
Selecting a plurality of reference stations in the position available is arranged an active state closer to the positioning target on the basis of said observation information received from the positioning target and the state information,
Transmitting observation information, positioning correction information, and position information of the selected plurality of reference stations to the positioning target;
A positioning method comprising:   A positioning method for measuring the position of a moving positioning target,
  From a plurality of reference stations arranged at each of a plurality of different known position coordinates from each other, receiving the observation information generated by the reference station receives radio waves of artificial satellites,
  For each of the plurality of reference stations, based on the observation information received from the reference station, to create positioning correction information used for position measurement of the positioning target,
  The positioning correction information of each of the plurality of reference stations, in association with the position information of the reference station, storing in a plurality of types of formats corresponding to a plurality of types of measurement objects,
  Receiving from the positioning target the observation information generated by the positioning target receiving the radio wave of the artificial satellite,
  Selecting a plurality of reference stations located at positions close to the positioning target based on the observation information received from the positioning target,
  Transmitting observation information, positioning correction information, and position information of the selected plurality of reference stations to the positioning target;
A positioning method comprising:   A positioning method for measuring the position of a moving positioning target,
  From a plurality of reference stations arranged at each of a plurality of different known position coordinates from each other, receiving the observation information generated by the reference station receives radio waves of artificial satellites,
  For each of the plurality of reference stations, based on the observation information received from the reference station, to create positioning correction information used for position measurement of the positioning target,
  Storing the positioning correction information of each of the plurality of reference stations in association with position information of the reference station and state information identifying whether the reference station is in an active state or not,
  Receiving the radio waves of the artificial satellite to generate observation information,
  Selecting a plurality of reference stations in an active state that are available and located at a position close to the positioning target based on the state information and the observation information,
  Based on the observation information of the selected plurality of reference stations, positioning correction information and position information, and the observation information of the positioning target, calculating the position information of the positioning target,
A positioning method comprising: A positioning method for measuring the position of a moving positioning target,
From a plurality of reference stations arranged at each of a plurality of different known position coordinates from each other, receiving the observation information generated by the reference station receives radio waves of artificial satellites,
For each of the plurality of reference stations, based on the observation information received from the reference station, to create positioning correction information used for position measurement of the positioning target,
Storing the positioning correction information of each of the plurality of reference stations in association with position information of the reference station,
Receiving the radio waves of the artificial satellite to generate observation information,
Selecting a plurality of reference stations which are located closer to the positioning target on the basis of the previous SL observation information,
Observation information of the selected plurality of reference stations, positioning correction information and position information, and, based on the observation information of the positioning target, calculating a plurality of position information of the positioning target,
Selecting the most accurate position information calculation result from the plurality of position information calculation results,
A positioning method comprising:   A positioning method for measuring the position of a moving positioning target,
  From a plurality of reference stations arranged at each of a plurality of different known position coordinates from each other, receiving the observation information generated by the reference station receives radio waves of artificial satellites,
  For each of the plurality of reference stations, based on the observation information received from the reference station, to create positioning correction information used for position measurement of the positioning target,
  The positioning correction information of each of the plurality of reference stations, in association with the position information of the reference station, storing in a plurality of types of formats corresponding to a plurality of types of measurement objects,
  Receiving the radio waves of the artificial satellite to generate observation information,
  Selecting a plurality of reference stations located at positions close to the positioning target based on the observation information,
  Based on the observation information of the selected plurality of reference stations, positioning correction information and position information, and the observation information of the positioning target, calculating the position information of the positioning target,
A positioning method comprising: The positioning method according to claim 13, 15 , 18, or 20 ,
Calculating the position information of the positioning target, the observation information of the selected plurality of reference stations, positioning correction information and position information, based on the observation information of the positioning target, the plurality of position information of the positioning target, A positioning method, comprising: calculating, and selecting a calculation result of the position information with the highest accuracy from the calculation results of the plurality of position information. A device to be located,
From a plurality of reference stations arranged at each of a plurality of different known position coordinates from each other, a reference station communication unit that receives observation information generated by the reference station receiving a radio wave of an artificial satellite,
For each of the plurality of reference stations, based on the observation information received from the reference station, a correction information creating unit that creates positioning correction information used for position measurement of its own device,
An information storage unit that stores the positioning correction information of each of the plurality of reference stations in association with position information of the reference station and state information identifying whether the reference station is in an active state or not ,
An observation information generation unit that receives the radio wave of the artificial satellite and generates observation information,
A reference station selection section for selecting a plurality of reference stations in the active state available that are located closer to the own device based on the observation information of the own device and the status information,
Based on the observation information of the selected plurality of reference stations, positioning correction information and position information and the observation information of the own device, a position information calculation unit that calculates the position information of the own device,
A positioning target device, comprising:   A device to be located,
  From a plurality of reference stations arranged at each of a plurality of different known position coordinates from each other, a reference station communication unit that receives observation information generated by the reference station receiving a radio wave of an artificial satellite,
  For each of the plurality of reference stations, based on the observation information received from the reference station, a correction information creating unit that creates positioning correction information used for position measurement of its own device,
  An information storage unit that stores the positioning correction information of each of the plurality of reference stations in association with position information of the reference station,
  An observation information generation unit that receives the radio wave of the artificial satellite and generates observation information,
  A reference station selection unit that selects a plurality of reference stations arranged at positions close to the own device based on the observation information of the own device,
  Based on the observation information of the selected plurality of reference stations, the positioning correction information and the position information and the observation information of the own device, calculate a plurality of position information of the own device, and calculate the most from the calculation result of the plurality of position information. A position information calculation unit that selects a calculation result of position information with high accuracy,
A positioning target device, comprising:   A device to be located,
  From a plurality of reference stations arranged at each of a plurality of different known position coordinates from each other, a reference station communication unit that receives observation information generated by the reference station receiving a radio wave of an artificial satellite,
  For each of the plurality of reference stations, based on the observation information received from the reference station, a correction information creating unit that creates positioning correction information used for position measurement of its own device,
  An information storage unit that stores the positioning correction information of each of the plurality of reference stations in association with position information of the reference station,
  An observation information generation unit that receives the radio wave of the artificial satellite and generates observation information,
  A reference station selection unit that selects a plurality of reference stations arranged at positions close to the own device based on the observation information of the own device,
  Based on the observation information of the selected plurality of reference stations, positioning correction information and position information and the observation information of the own device, a position information calculation unit that calculates the position information of the own device,
  The information storage section stores the positioning correction information in a plurality of types of formats corresponding to a plurality of types of measurement targets. The positioning target device according to claim 22 or 24 ,
The position information calculation unit, based on the observation information of the selected plurality of reference stations, positioning correction information and position information and the observation information of the own device, calculates a plurality of position information of the own device, the plurality of A positioning target device, wherein a position information calculation result with the highest accuracy is selected from the position information calculation results. A mobile object comprising the positioning target device according to any one of claims 22 to 25 .

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